Accrued Liabilities and Other Non-Current Liabilities - Component Details (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Payables and Accruals [Abstract]
Compensation and other employee-related benefits	$ 134.4	$ 155.2
Contract liabilities and other customer-related liabilities	92.2	69.1
Accrued income taxes and other tax-related liabilities	$ 27.1	$ 33.6
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Accrued and other current liabilities	Accrued and other current liabilities
Operating lease liabilities	$ 19.0	$ 20.1
Accrued warranty costs	14.3	17.7
Environmental and other legal matters	5.7	13.5
Accrued restructuring costs	3.9	11.0
Other	36.8	37.1
Accrued and other current liabilities	$ 333.4	$ 357.3
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Other non-current liabilities	Other non-current liabilities
Operating lease liabilities	$ 58.9	$ 64.0
Environmental liabilities	53.1	50.1
Deferred income taxes and other tax-related liabilities	31.1	29.0
Compensation and other employee-related benefits	25.0	29.2
Non-current maturities of long-term debt	7.7	9.9
Other	24.4	24.3
Other non-current liabilities	$ 200.2	$ 206.5