Restructuring - Restructuring Charges (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 9.7	$ 2.9
Restructuring Program 2020
Restructuring Cost and Reserve [Line Items]
Restructuring charges	9.7	2.9
Restructuring Program 2020 | Corporate
Restructuring Cost and Reserve [Line Items]
Restructuring charges	0.2	0.2
Restructuring Program 2020 | Industrial Technologies and Services
Restructuring Cost and Reserve [Line Items]
Restructuring charges	5.1	3.1
Restructuring Program 2020 | Precision and Science Technologies
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4.4	$ (0.4)