Segment Information - Operating Income (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Operating income	$ 528.2	$ 468.0	$ 504.3
Asbestos-related benefit, net	0.0	0.0	74.4	[1]
Interest expense (income), net	(10.4)	(6.4)	1.1
Other non-operating income, net	1.7	0.2	3.7
Income from continuing operations before income tax	519.5	461.8	509.1
Operating Segments
Segment Reporting Information [Line Items]
Operating income	581.9	511.9	466.7
Motion Technologies
Segment Reporting Information [Line Items]
Operating income	230.8	208.5	258.2
Industrial Process
Segment Reporting Information [Line Items]
Operating income	243.6	187.6	126.8
Connect & Control Technologies
Segment Reporting Information [Line Items]
Operating income	107.5	115.8	81.7
Corporate and Other [Member]
Segment Reporting Information [Line Items]
Operating income	$ (53.7)	$ (43.9)	$ (36.8)

[1] The 2021 period includes a pre-tax gain of $88.8 resulting from the InTelCo divestiture transaction. See Note 19, Commitments and Contingencies, for further information.