Restructuring - Narrative (Details) - USD ($) $ in Millions	12 Months Ended			24 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2021
Restructuring Costs [Abstract]
Restructuring charges	$ 13.4	$ 83.0	$ 11.1
Restructuring Programs 2020 to 2022
Restructuring Costs [Abstract]
Restructuring charges	13.4	83.0		$ 96.4
Restructuring Programs 2020 to 2022 | Minimum
Restructuring Costs [Abstract]
Expected cost of restructuring program	100.0			100.0
Restructuring Programs 2020 to 2022 | Maximum
Restructuring Costs [Abstract]
Expected cost of restructuring program	115.0			115.0
Restructuring Programs 2020 to 2022 | Corporate expenses not allocated to segments
Restructuring Costs [Abstract]
Restructuring charges	5.0	5.8		10.8
Restructuring Programs 2020 to 2022 | Industrial Technologies and Services
Restructuring Costs [Abstract]
Restructuring charges	8.4	70.3		78.7
Restructuring Programs 2020 to 2022 | Precision and Science Technologies
Restructuring Costs [Abstract]
Restructuring charges	$ 0.0	$ 6.9		$ 6.9