Restructuring - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Costs [Abstract]
Restructuring charges	$ 92.9	$ 17.1	$ 12.7
Restructuring reserve, current	17.5	5.0
Restructuring Programs 2018 to 2019
Restructuring Costs [Abstract]
Restructuring reserve, current	17.5	5.0
Restructuring Programs 2020 to 2022
Restructuring Costs [Abstract]
Expected cost synergies of restructuring program	300.0
Restructuring Programs 2020 to 2022 | One-time Termination Benefits
Restructuring Costs [Abstract]
Expected cost of restructuring program	350.0
Other operating income (expense) | Restructuring Programs 2018 to 2019
Restructuring Costs [Abstract]
Restructuring charges	92.9
Other operating income (expense) | Restructuring Programs 2018 to 2019 | Industrials
Restructuring Costs [Abstract]
Restructuring charges	70.3
Other operating income (expense) | Restructuring Programs 2018 to 2019 | Energy
Restructuring Costs [Abstract]
Restructuring charges	8.9
Amount of non-cash write offs	9.2	$ 3.3
Other operating income (expense) | Restructuring Programs 2018 to 2019 | Medical
Restructuring Costs [Abstract]
Restructuring charges	6.9
Other operating income (expense) | Restructuring Programs 2018 to 2019 | Corporate
Restructuring Costs [Abstract]
Restructuring charges	6.0
Other operating income (expense) | Restructuring Programs 2018 to 2019 | Specialty Vehicle Technologies
Restructuring Costs [Abstract]
Restructuring charges	$ 0.8