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Restructuring and Other Similar Charges - Costs to Date by Segment (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs $ 0.6 $ 6.6
Employee termination benefits    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.5 5.5
Contract termination and other associated costs    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.1 1.1
Operating Segments | Process & Motion Control    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.0 6.2
Operating Segments | Process & Motion Control | Employee termination benefits    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs (0.1) 5.3
Operating Segments | Process & Motion Control | Contract termination and other associated costs    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.1 0.9
Operating Segments | Water Management    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.6 0.2
Operating Segments | Water Management | Employee termination benefits    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.6 0.1
Operating Segments | Water Management | Contract termination and other associated costs    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.0 0.1
Corporate    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.0 0.2
Corporate | Employee termination benefits    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs 0.0 0.1
Corporate | Contract termination and other associated costs    
Restructuring Cost and Reserve [Line Items]    
Total restructuring and other similar costs $ 0.0 $ 0.1