Restructuring - Costs by Type and Segment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Severance and other employee-related costs	$ 8.0	$ 3.5	$ 8.0
Asset write-offs	1.8	0.1	0.6
Other	0.1	0.2	1.0
Total restructuring costs	9.9	3.8	9.6
Motion Technologies
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	4.0	2.7	3.9
Industrial Process
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	4.6	1.3	3.1
Connect & Control Technologies
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	1.3	0.0	2.4
Corporate and Other [Member]
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	$ 0.0	$ (0.2)	$ 0.2