Restructuring - Narrative (Details) - USD ($) $ in Millions	12 Months Ended			36 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2022
Restructuring Costs [Abstract]
Restructuring charges	$ 29.3	$ 13.4	$ 83.0
Restructuring Programs 2020 to 2022
Restructuring Costs [Abstract]
Restructuring charges	29.3	13.4	83.0	$ 125.7
Restructuring Programs 2020 to 2022 | Minimum
Restructuring Costs [Abstract]
Expected cost of restructuring program	127.0			127.0
Restructuring Programs 2020 to 2022 | Maximum
Restructuring Costs [Abstract]
Expected cost of restructuring program	138.0			138.0
Restructuring Programs 2020 to 2022 | Corporate expenses not allocated to segments
Restructuring Costs [Abstract]
Restructuring charges	0.5	5.0	5.8	11.3
Restructuring Programs 2020 to 2022 | Industrial Technologies and Services
Restructuring Costs [Abstract]
Restructuring charges	20.1	8.4	70.3	98.8
Restructuring Programs 2020 to 2022 | Precision and Science Technologies
Restructuring Costs [Abstract]
Restructuring charges	$ 8.7	$ 0.0	$ 6.9	$ 15.6