Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Accrued expenses	$ 50.8	$ 40.7
Warranty accrual	12.4	6.5
Deferred compensation	3.9	6.8
Allowances for doubtful accounts	8.0	4.8
Inventories	19.6	17.6
Deferred revenue	19.8	14.0
Pensions, post-retirement and other benefits	48.8	71.2
Tax credits	67.2	66.0
Net operating loss carryforwards	150.7	175.6
Capital loss carryforwards	1.1	0.4
State deferred taxes	8.6	10.9
Lease liability	34.5	28.4
Other	18.8	5.0
Deferred Tax Assets, Gross	444.2	447.9
Valuation allowances	(261.8)	(229.5)
Net deferred tax assets	182.4	218.4
Deferred tax liabilities
Property, plant and equipment, net	12.9	15.9
Goodwill and intangible assets	112.6	145.9
Undistributed earnings	32.2	32.7
Right-of-use assets	34.5	29.8
Deferred Tax Liabilities, Gross	192.2	224.3
Net deferred tax (liability)	$ (9.8)	$ (5.9)