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Stockholders' Equity - Roll Forward (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Dec. 31, 2019
Dec. 31, 2018
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance $ 1,321.4 $ 1,277.9 $ 1,231.0 $ 1,144.3 $ 1,181.0 $ 1,212.8 $ 1,231.0 $ 1,212.8
Total comprehensive income 55.7 41.6 46.7 34.5 (36.0) (34.5) 144.0 (36.0)
Stock-based compensation expense 5.9 5.9 6.9 5.5 5.8 6.0    
Proceeds from exercise of stock options 9.9 2.1 4.8 1.6 2.1 2.9    
Mandatory conversion of preferred stock to common stock (3) 0.0              
Taxes withheld and paid on employees' share-based payment awards (1.9)   (5.7)   (2.8) (0.4)    
Acquisition of non-controlling interest   (0.3)            
Repurchase of common stock (20.0)           (20.0)  
Preferred stock dividends ($14.375 per share) (2.8) (5.8) (5.8) (5.8) (5.8) (5.8)    
Ending Balance $ 1,368.2 $ 1,321.4 $ 1,277.9 $ 1,180.1 $ 1,144.3 $ 1,181.0 $ 1,368.2 $ 1,180.1
Preferred stock dividends (in dollars per share) $ 14.375 $ 14.375 $ 14.375 $ 14.375 $ 14.375 $ 14.375    
Common stock issued (in shares) 563,779           1,672,978  
Acquisition of non-controlling interest   $ 0.3            
Preferred stock under the if-converted method (in shares) 7,989,000     15,979,000     13,307,000 15,979,000
Repurchased and canceled shares (in shares)             639,500  
Cost of repurchased and canceled shares of common stock $ 20.0           $ 20.0  
Average price of repurchased and canceled shares of common stock (in dollars per share)             $ 31.30  
Process & Motion Control Subsidiaries                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Non-controlling interest 30.00% 30.00%         30.00%  
Common stock                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance $ 1.0 $ 1.0 $ 1.0 $ 1.0 $ 1.0 $ 1.0 $ 1.0 $ 1.0
Mandatory conversion of preferred stock to common stock (3) 0.2              
Ending Balance 1.2 1.0 1.0 1.0 1.0 1.0 1.2 1.0
Preferred stock                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Ending Balance 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
Additional paid-in capital                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance 1,307.2 1,299.5 1,293.5 1,285.6 1,286.3 1,277.8 1,293.5 1,277.8
Stock-based compensation expense 5.9 5.9 6.9 5.5 5.8 6.0    
Proceeds from exercise of stock options 9.9 2.1 4.8 1.6 2.1 2.9    
Mandatory conversion of preferred stock to common stock (3) (0.2)              
Taxes withheld and paid on employees' share-based payment awards (1.9)   (5.7)   (2.8) (0.4)    
Acquisition of non-controlling interest   (0.3)            
Preferred stock dividends ($14.375 per share)       (5.8) (5.8) 0.0    
Ending Balance 1,320.9 1,307.2 1,299.5 1,286.9 1,285.6 1,286.3 1,320.9 1,286.9
Acquisition of non-controlling interest   0.3            
Retained earnings                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance 122.2 71.4 30.7 (36.1) 1.5 8.0 30.7 8.0
Total comprehensive income 48.5 56.6 46.5 25.4 (37.6) (0.7)    
Repurchase of common stock (20.0)              
Preferred stock dividends ($14.375 per share) (2.8) (5.8) (5.8)     (5.8)    
Ending Balance 147.9 122.2 71.4 (10.7) (36.1) 1.5 147.9 (10.7)
Cost of repurchased and canceled shares of common stock 20.0              
Accumulated other comprehensive (loss) income                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance (111.7) (96.6) (96.6) (106.5) (108.0) (74.1) (96.6) (74.1)
Total comprehensive income 7.3 (15.1)   9.4 1.5 (33.9)    
Ending Balance (104.4) (111.7) (96.6) (97.1) (106.5) (108.0) (104.4) (97.1)
Non-controlling Interest                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Beginning Balance 2.7 2.6 2.4 0.3 0.2 0.1 2.4 0.1
Total comprehensive income (0.1) 0.1 0.2 (0.3) 0.1 0.1    
Ending Balance $ 2.6 $ 2.7 $ 2.6 $ 0.0 $ 0.3 $ 0.2 $ 2.6 $ 0.0
Centa China | Process & Motion Control Joint Venture                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Non-controlling interest 5.00%           5.00%