Property, Plant and Equipment - Schedule of Property, Plant and Equipment (Details) - USD ($) $ in Millions	Mar. 31, 2022	Dec. 31, 2021
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	$ 1,508.7	$ 1,480.3
Less accumulated depreciation	(905.0)	(887.1)
Property, plant and equipment, net	603.7	593.2
Land and Land Improvements
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	72.7	72.0
Buildings
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	413.0	410.9
Machinery and Equipment
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	768.1	740.9
Software and Related Costs
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	200.4	201.3
Equipment on Operating Lease to Others
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	9.2	9.9
Construction in Progress
Property Plant And Equipment [Line Items]
Property, plant and equipment, gross	$ 45.3	$ 45.3