Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets:
Accrued expenses	$ 40.7	$ 12.4
Warranty accrual	6.5	8.7
Deferred compensation	6.8	9.8
Allowances for doubtful accounts	4.8	5.4
Inventories	17.6	12.7
Deferred revenue	14.0	18.3
Pensions, post-retirement and other benefits	71.2	69.1
Tax credits	66.0	65.1
Net operating loss carryforwards	175.6	197.1
Capital loss carryforwards	0.4	3.1
State deferred taxes	10.9	8.8
Lease liability	28.4	32.8
Other	5.0	17.3
Deferred Tax Assets, Gross	447.9	460.6
Valuation allowances	(229.5)	(217.7)
Net deferred tax assets	218.4	242.9
Deferred tax liabilities
Property, plant and equipment, net	15.9	26.9
Goodwill and intangible assets	145.9	154.1
Undistributed earnings	32.7	30.0
Right-of-use assets	29.8	32.5
Deferred Tax Liabilities, Gross	224.3	243.5
Net deferred tax (liability)	$ (5.9)	$ (0.6)