Goodwill and Other Intangible Assets - Narrative (Details)	12 Months Ended
	Dec. 31, 2021 USD ($) segment	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Goodwill [Line Items]
Acquisitions	$ 5,400,000
Goodwill	1,022,700,000	$ 1,047,600,000	$ 993,700,000
Goodwill impairment loss	0	0	0
Amortization expense for intangible assets	54,500,000	56,200,000	57,300,000
Amortization expense for intangible assets acquired as part of a business combination	46,800,000	47,300,000	46,700,000
Future amortization expense year 2022	49,100,000
Future amortization expense year 2023	46,100,000
Future amortization expense year 2024	44,000,000.0
Future amortization expense year 2025	42,800,000
Future amortization expense year 2026	$ 41,400,000
iMS
Goodwill [Line Items]
Goodwill, expected tax deductible percent (as a percent)	100.00%
Acquisitions	$ 5,400,000
2019 Acquisitions
Goodwill [Line Items]
Acquisitions		8,400,000
Goodwill		52,600,000
Tax deductible		19,000,000
Mobile
Goodwill [Line Items]
Number of reporting units | segment	4
Acquisitions	$ 0	5,600,000
Goodwill	$ 371,700,000	384,600,000	361,300,000
Process
Goodwill [Line Items]
Number of reporting units | segment	2
Acquisitions	$ 5,400,000	2,800,000
Goodwill	$ 651,000,000.0	$ 663,000,000.0	$ 632,400,000