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Restructuring - Restructuring Charges Net And Activity in Restructuring Programs (Details) - USD ($)
$ in Millions
12 Months Ended 36 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]        
Restructuring charges $ 29.3 $ 13.4 $ 83.0  
Restructuring Reserve [Roll Forward]        
Balance at beginning of period 12.3 17.5    
Charged to expense - termination benefits 16.9 9.6    
Charged to expense - other 6.4 2.7    
Payments (20.6) (15.9)    
Foreign currency translation and other (0.1) (1.6)    
Balance at end of period 14.9 12.3 17.5 $ 14.9
Restructuring Programs 2020 to 2022        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges 29.3 13.4 83.0 125.7
Restructuring Programs 2020 to 2022 | Corporate expenses not allocated to segments        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges 0.5 5.0 5.8 11.3
Restructuring Programs 2020 to 2022 | Industrial Technologies and Services        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges 20.1 8.4 70.3 98.8
Restructuring Programs 2020 to 2022 | Precision and Science Technologies        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges 8.7 0.0 $ 6.9 $ 15.6
Restructuring Programs 2020 to 2022 | Energy | Other operating income (expense)        
Restructuring Cost and Reserve [Line Items]        
Amount of non-cash write offs $ 6.0 $ 1.1