Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Accrued expenses	$ 51.9	$ 50.8
Warranty accrual	12.3	12.4
Deferred compensation	3.0	3.9
Allowances for doubtful accounts	5.0	8.0
Inventories	18.5	19.6
Deferred revenue	28.1	19.8
Pensions, post-retirement and other benefits	48.6	48.8
Deferred Tax Assets, Tax Deferred Expense, Reserves and Accruals, Restructuring Charges	108.3	0.0
Tax credits	0.0	67.2
Net operating loss carryforwards	179.4	150.7
Capital loss carryforwards	1.3	1.1
State deferred taxes	28.0	8.6
Lease liability	28.9	34.5
Other	22.8	18.8
Deferred Tax Assets, Gross	536.1	444.2
Valuation allowances	(468.3)	(261.8)
Net deferred tax assets	67.8	182.4
Deferred tax liabilities
Property, plant and equipment, net	10.3	12.9
Goodwill and intangible assets	88.2	112.6
Undistributed earnings	34.4	32.2
Right-of-use assets	31.5	34.5
Deferred Tax Liabilities, Gross	164.4	192.2
Net deferred tax (liability)	$ (96.6)	$ (9.8)