Segment Revenue, Operating Income, and Operating Margin (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Segment Reporting Information [Line Items]
Revenue	$ 2,477.8	$ 2,846.4	$ 2,745.1
Operating Income	$ 226.5	$ 411.4	$ 397.3
Operating margin	9.10%	14.50%	14.50%
Intersegment Eliminations
Segment Reporting Information [Line Items]
Revenue	$ (2.8)	$ (3.1)	$ (2.7)
Motion Technologies
Segment Reporting Information [Line Items]
Revenue	1,121.1	1,241.8	1,274.1
Operating Income	$ 184.0	$ 216.1	$ 223.4
Operating margin	16.40%	17.40%	17.50%
Industrial Process
Segment Reporting Information [Line Items]
Revenue	$ 843.0	$ 943.8	$ 827.1
Operating Income	$ 77.6	$ 104.7	$ 91.4
Operating margin	9.20%	11.10%	11.10%
Connect & Control Technologies
Segment Reporting Information [Line Items]
Revenue	$ 516.5	$ 663.9	$ 646.6
Operating Income	$ 57.0	$ 111.5	$ 96.5
Operating margin	11.00%	16.80%	14.90%
Total segment results
Segment Reporting Information [Line Items]
Revenue	$ 2,480.6	$ 2,849.5	$ 2,747.8
Operating Income	$ 318.6	$ 432.3	$ 411.3
Operating margin	12.90%	15.20%	15.00%
Asbestos-related (costs) benefit, net
Segment Reporting Information [Line Items]
Operating Income	$ (66.3)	$ 20.2	$ (4.9)
Gain (loss) on sale or disposal of long-lived corporate assets
Segment Reporting Information [Line Items]
Operating Income	0.7	(0.2)	38.5
Eliminations / Other corporate costs
Segment Reporting Information [Line Items]
Operating Income	(26.5)	(40.9)	(47.6)
Total Eliminations / Corporate and Other costs
Segment Reporting Information [Line Items]
Operating Income	$ (92.1)	$ (20.9)	$ (14.0)