Revenue from Contracts with Customers - Disaggregation of Revenue (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Abstract]
Revenues	$ 6,876.1	$ 5,916.3	$ 5,152.4
Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	6,383.4	5,518.4
Revenue recognized at point over time
Disaggregation of Revenue [Abstract]
Revenues	492.7	397.9
Original equipment
Disaggregation of Revenue [Abstract]
Revenues	4,416.8	3,832.8
Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	2,459.3	2,083.5
Americas
Disaggregation of Revenue [Abstract]
Revenues	3,297.3	2,800.6
U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	2,895.2	2,450.4
Other Americas
Disaggregation of Revenue [Abstract]
Revenues	402.1	350.2
EMEIA
Disaggregation of Revenue [Abstract]
Revenues	2,267.5	1,877.3
Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	1,311.3	1,238.4
Industrial Technologies and Services
Disaggregation of Revenue [Abstract]
Revenues	5,632.8	4,705.1
Industrial Technologies and Services | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	5,147.2	4,314.3
Industrial Technologies and Services | Revenue recognized at point over time
Disaggregation of Revenue [Abstract]
Revenues	485.6	390.8
Industrial Technologies and Services | Original equipment
Disaggregation of Revenue [Abstract]
Revenues	3,425.9	2,852.5
Industrial Technologies and Services | Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	2,206.9	1,852.6
Industrial Technologies and Services | Americas
Disaggregation of Revenue [Abstract]
Revenues	2,701.1	2,220.8
Industrial Technologies and Services | U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	2,328.0	1,900.3
Industrial Technologies and Services | Other Americas
Disaggregation of Revenue [Abstract]
Revenues	373.1	320.5
Industrial Technologies and Services | EMEIA
Disaggregation of Revenue [Abstract]
Revenues	1,800.8	1,442.8
Industrial Technologies and Services | Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	1,130.9	1,041.5
Precision and Science Technologies
Disaggregation of Revenue [Abstract]
Revenues	1,243.3	1,211.2
Precision and Science Technologies | Revenue recognized at point in time
Disaggregation of Revenue [Abstract]
Revenues	1,236.2	1,204.1
Precision and Science Technologies | Revenue recognized at point over time
Disaggregation of Revenue [Abstract]
Revenues	7.1	7.1
Precision and Science Technologies | Original equipment
Disaggregation of Revenue [Abstract]
Revenues	990.9	980.3
Precision and Science Technologies | Aftermarket
Disaggregation of Revenue [Abstract]
Revenues	252.4	230.9
Precision and Science Technologies | Americas
Disaggregation of Revenue [Abstract]
Revenues	596.2	579.8
Precision and Science Technologies | U.S. Plans
Disaggregation of Revenue [Abstract]
Revenues	567.2	550.1
Precision and Science Technologies | Other Americas
Disaggregation of Revenue [Abstract]
Revenues	29.0	29.7
Precision and Science Technologies | EMEIA
Disaggregation of Revenue [Abstract]
Revenues	466.7	434.5
Precision and Science Technologies | Asia Pacific
Disaggregation of Revenue [Abstract]
Revenues	$ 180.4	$ 196.9