Revenue Recognition - Schedule of Impact of the Change in Contract Estimates on Operating Results (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Change in Accounting Estimate [Line Items]
Net unfavorable effect of the changes in contract estimates on net sales	$ 511.1	$ 496.1
Net unfavorable effect of the changes in contract estimates on net income	$ 27.8	$ 18.1
Net unfavorable effect of the changes in contract estimates on basic EPS (USD per share)	$ 0.34	$ 0.23
Net unfavorable effect of the changes in contract estimates on diluted EPS (USD per share)	$ 0.33	$ 0.22
Aerospace and Defense | Contracts Accounted for under Percentage-of-Completion
Change in Accounting Estimate [Line Items]
Net unfavorable effect of the changes in contract estimates on net sales	$ (0.2)	$ (1.9)
Net unfavorable effect of the changes in contract estimates on income before income taxes	(2.7)	(2.4)
Net unfavorable effect of the changes in contract estimates on net income	$ (2.0)	$ (1.9)
Net unfavorable effect of the changes in contract estimates on basic EPS (USD per share)	$ (0.02)	$ (0.02)
Net unfavorable effect of the changes in contract estimates on diluted EPS (USD per share)	$ (0.02)	$ (0.02)