Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets (liabilities)
Employee benefits	$ 33.6	$ 25.2
Deferred revenue	32.8	27.6
Capitalized research and development costs	20.6	16.6
U.S. state tax attributes	13.7	13.2
Lease liabilities	13.3	13.7
Non-U.S. tax attributes	10.6	3.8
Warranty reserves	5.7	7.2
U.S. federal tax attributes	5.2	15.2
Other, net	14.9	15.4
Gross deferred assets	150.4	137.9
Valuation allowances	(15.1)	(23.7)
Deferred tax assets after valuation allowances	135.3	114.2
Intangibles	(314.1)	(354.3)
Property, plant and equipment	(46.8)	(47.4)
Right of use assets	(12.2)	(12.3)
Undistributed foreign earnings	(5.8)	(5.7)
Gross deferred liabilities	(378.9)	(419.7)
Net deferred tax liabilities	(243.6)	(305.5)
Foreign tax credit carryforwards	5.2
Deferred tax asset for state tax loss carry forwards	13.7
Valuation allowance on state tax losses	(9.2)
Non-U.S. tax attributes	10.6	$ 3.8
Valuation allowance on foreign tax losses	$ (0.7)