Restructuring - Restructuring Charges (Details) - USD ($) $ in Millions	12 Months Ended			48 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 19.9	$ 29.3	$ 13.4
2020 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring charges	19.9	29.3	13.4	$ 130.1
2020 Plan | Corporate
Restructuring Cost and Reserve [Line Items]
Restructuring charges	0.7	0.5	5.0	11.6
2020 Plan | Industrial Technologies and Services
Restructuring Cost and Reserve [Line Items]
Restructuring charges	15.1	20.1	8.4	103.1
2020 Plan | Precision and Science Technologies
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4.1	$ 8.7	$ 0.0	$ 15.4