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Guarantees (Details) - USD ($)
$ in Millions
 6 Months Ended 12 Months Ended
Jun. 30, 2016
Jun. 30, 2015
Dec. 31, 2015
Guarantees      
Deferred revenue included in other current and non-current liabilities $ 34.5   $ 43.0
Amount of residual value guarantees and buyback commitments given by the company $ 38.5   42.9
Standard product warranty, low end of range (in months) 12 months    
Standard product warranty, high end of range (in months) 60 months    
Warranty activity      
Balance at beginning of period $ 43.9 $ 50.2 50.2
Accruals for warranties issued during the period 23.5   49.8
Settlements made (in cash or in kind) during the period (21.9)   (52.7)
Currency translation 0.4   (3.4)
Balance at end of period 45.9   43.9
Notes receivable sales and guarantees      
Guarantees      
Sale of long term notes receivable to third party financing companies $ 3.4 0.9  
Maximum percent guaranteed by the company for collection of notes to financing companies (as a percent) (up to) 100.00%    
Payments related to notes by customers to financing companies $ 8.5 $ 10.2  
Outstanding balance of notes receivables guaranteed by the company $ 19.3   $ 24.4