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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Disaggregation of Revenue [Line Items]    
Net sales $ 1,130.8 $ 1,221.3
Environmental Solutions    
Disaggregation of Revenue [Line Items]    
Net sales 915.8 992.9
Environmental Solutions | Vehicles and equipment    
Disaggregation of Revenue [Line Items]    
Net sales [1] 719.3 788.7
Environmental Solutions | Parts    
Disaggregation of Revenue [Line Items]    
Net sales 129.4 132.8
Environmental Solutions | Rental income    
Disaggregation of Revenue [Line Items]    
Net sales [2] 36.6 46.2
Environmental Solutions | Other    
Disaggregation of Revenue [Line Items]    
Net sales [3] 30.5 25.2
Safety And Security Systems    
Disaggregation of Revenue [Line Items]    
Net sales 215.0 228.4
Safety And Security Systems | Public safety and security equipment    
Disaggregation of Revenue [Line Items]    
Net sales 132.6 133.5
Safety And Security Systems | Industrial signaling equipment    
Disaggregation of Revenue [Line Items]    
Net sales 50.8 59.3
Safety And Security Systems | Warning systems    
Disaggregation of Revenue [Line Items]    
Net sales $ 31.6 $ 35.6
[1] Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment.
[2] Represents revenues from vehicle and equipment lease arrangements with customers, recognized in accordance with Topic 842 and Topic 840, as applicable.
[3] Primarily includes revenues from services such as maintenance and repair work and the sale of extended warranty contracts.