Revenue from Contracts with Customers - Disaggregation of Revenue (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Abstract]
Revenues	$ 5,916.3	$ 5,152.4	$ 3,973.2
Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	5,518.4	4,799.6
Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	397.9	352.8
Original Equipment
Disaggregation of Revenue [Abstract]
Revenues	3,832.8	3,289.4
Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	2,083.5	1,863.0
Americas
Disaggregation of Revenue [Abstract]
Revenues	2,800.6	2,272.2
U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	2,450.4	1,986.8
Other Americas
Disaggregation of Revenue [Abstract]
Revenues	350.2	285.4
EMEIA
Disaggregation of Revenue [Abstract]
Revenues	1,877.3	1,731.5
Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	1,238.4	1,148.7
Industrial Technologies and Services
Disaggregation of Revenue [Abstract]
Revenues	4,705.1	4,161.0
Industrial Technologies and Services | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	4,314.3	3,811.3
Industrial Technologies and Services | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	390.8	349.7
Industrial Technologies and Services | Original Equipment
Disaggregation of Revenue [Abstract]
Revenues	2,852.5	2,467.1
Industrial Technologies and Services | Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	1,852.6	1,693.9
Industrial Technologies and Services | Americas
Disaggregation of Revenue [Abstract]
Revenues	2,220.8	1,819.5
Industrial Technologies and Services | U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	1,900.3	1,554.6
Industrial Technologies and Services | Other Americas
Disaggregation of Revenue [Abstract]
Revenues	320.5	264.9
Industrial Technologies and Services | EMEIA
Disaggregation of Revenue [Abstract]
Revenues	1,442.8	1,363.4
Industrial Technologies and Services | Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	1,041.5	978.1
Precision and Science Technologies
Disaggregation of Revenue [Abstract]
Revenues	1,211.2	991.4
Precision and Science Technologies | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	1,204.1	988.3
Precision and Science Technologies | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	7.1	3.1
Precision and Science Technologies | Original Equipment
Disaggregation of Revenue [Abstract]
Revenues	980.3	822.3
Precision and Science Technologies | Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	230.9	169.1
Precision and Science Technologies | Americas
Disaggregation of Revenue [Abstract]
Revenues	579.8	452.7
Precision and Science Technologies | U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	550.1	432.2
Precision and Science Technologies | Other Americas
Disaggregation of Revenue [Abstract]
Revenues	29.7	20.5
Precision and Science Technologies | EMEIA
Disaggregation of Revenue [Abstract]
Revenues	434.5	368.1
Precision and Science Technologies | Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	$ 196.9	$ 170.6