Consolidated Statements of Stockholders' Equity (Parenthetical) $ in Millions		3 Months Ended		12 Months Ended
	Dec. 07, 2016 $ / shares Rate shares	Dec. 31, 2019 shares	Sep. 30, 2019 USD ($) Rate	Mar. 31, 2020 USD ($) $ / shares Rate shares	Mar. 31, 2019 USD ($) $ / shares Rate shares	Mar. 31, 2018 USD ($) $ / shares Rate
Unrealized gain (loss) on interest rate derivatives, income tax expense (benefit) | $					$ 1.2	$ 3.9
Change in pension and other postretirement defined benefit plans - income tax (expense) benefit | $				$ 1.5	$ 2.8	$ 2.3
Preferred stock dividend (in dollars per share) | $ / shares				$ 57.50	$ 57.50	$ 57.50
Common stock dividend to be paid (in dollars per share) | $ / shares				$ 0.08
Cash paid, net of cash acquired | $				$ 84.5	$ 23.4	$ 173.6
Repurchased and canceled shares (in shares) | shares				3,600,000
Cost of repurchased and canceled shares | $				$ 100.7
Weighted average price of repurchased and canceled shares (in dollars per share) | $ / shares				$ 27.94
Process & Motion Control
Cash paid, net of cash acquired | $			$ 0.3
Process & Motion Control | Centa China
Non-controlling interest percentage | Rate				30.00%	30.00%	30.00%
Interest acquired | Rate			30.00%
Depositary Shares
Shares issued (in shares) | shares	8,100,000
Preferred stock, conversion ratio	0.05
Redeemable Convertible Preferred Stock
Shares issued (in shares) | shares	402,500			0	402,500
Dividend rate, percentage | Rate	5.75%
Offering price (in dollars per share) | $ / shares	$ 50
Par value (in dollars per share) | $ / shares	$ 0.01			$ 0.01	$ 0.01
Converted shares issued (in shares) | shares		16,000,000.0
Centa China | Process & Motion Control | Centa China
Non-controlling interest percentage | Rate				5.00%	5.00%