Segment Revenue, Operating Income, and Operating Margin (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Segment Reporting Information [Line Items]
Revenue	$ 2,846.4	$ 2,745.1	$ 2,585.3
Operating Income	$ 411.4	$ 397.3	$ 319.3
Operating margin	14.50%	14.50%	12.40%
Motion Technologies
Segment Reporting Information [Line Items]
Revenue	$ 1,241.8	$ 1,274.1	$ 1,176.0
Operating Income	$ 216.1	$ 223.4	$ 190.2
Operating margin	17.40%	17.50%	16.20%
Industrial Process
Segment Reporting Information [Line Items]
Revenue	$ 943.8	$ 827.1	$ 807.2
Operating Income	$ 104.7	$ 91.4	$ 65.8
Operating margin	11.10%	11.10%	8.20%
Connect & Control Technologies
Segment Reporting Information [Line Items]
Revenue	$ 663.9	$ 646.6	$ 605.6
Operating Income	$ 111.5	$ 96.5	$ 68.4
Operating margin	16.80%	14.90%	11.30%
Total segment results
Segment Reporting Information [Line Items]
Revenue	$ 2,849.5	$ 2,747.8	$ 2,588.8
Operating Income	$ 432.3	$ 411.3	$ 324.4
Operating margin	15.20%	15.00%	12.50%
Asbestos-related benefit (cost), net
Segment Reporting Information [Line Items]
Operating Income	$ 20.2	$ (4.9)	$ 19.9
(Loss) gain on sale or disposal of long-lived corporate assets
Segment Reporting Information [Line Items]
Operating Income	(0.2)	38.5	0.0
Eliminations / Other corporate costs
Segment Reporting Information [Line Items]
Revenue	(3.1)	(2.7)	(3.5)
Operating Income	(40.9)	(47.6)	(25.0)
Total Eliminations / Corporate and Other costs
Segment Reporting Information [Line Items]
Revenue	(3.1)	(2.7)	(3.5)
Operating Income	$ (20.9)	$ (14.0)	$ (5.1)