Business realignment and acquisition integration charges - Business segment information (Details) $ in Thousands	3 Months Ended		6 Months Ended
	Dec. 31, 2020 USD ($) employee	Dec. 31, 2019 USD ($) employee	Dec. 31, 2020 USD ($) employee	Dec. 31, 2019 USD ($) employee
Corporate, Non-Segment
Restructuring Cost and Reserve [Line Items]
Business realignment charges	$ 184	$ 117	$ 798	$ 122
Number of positions eliminated (employees) | employee	5	4	18	5
Segment Reconciling Items
Restructuring Cost and Reserve [Line Items]
Business realignment charges	$ 661	$ 0	$ 1,225	$ 0
Diversified Industrial | Operating Segments
Restructuring Cost and Reserve [Line Items]
Business realignment charges	$ 16,536	$ 9,667	$ 27,108	$ 14,392
Number of positions eliminated (employees) | employee	292	599	676	818
Aerospace Systems | Operating Segments
Restructuring Cost and Reserve [Line Items]
Business realignment charges	$ 1,386	$ 52	$ 5,337	$ 45
Number of positions eliminated (employees) | employee	45	16	285	16