Financial Instruments - Fair Value on a Recurring Basis (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Interest Rate Swap | Prepaid Expenses and Other Current Assets
Assets
Derivative assets	$ 3.4
Interest Rate Swap | Other Noncurrent Assets
Assets
Derivative assets	3.0
Interest Rate Swap | Accrued Expenses and Other Liabilities
Liabilities
Derivative liabilities	0.2
Interest Rate Swap | Other Non-current Liabilities
Liabilities
Derivative liabilities	1.8
Significant Unobservable Inputs (Level 3) | Sentinel Hydrosolutions
Liabilities
Contingent consideration			$ 2.5
Minimum | Significant Unobservable Inputs (Level 3) | AVG
Liabilities
Contingent consideration	0.0
Maximum | Significant Unobservable Inputs (Level 3) | Sentinel Hydrosolutions
Liabilities
Contingent consideration	4.5
Fair value measured on a recurring basis
Assets
Plan asset for deferred compensation	2.3	$ 1.9
Total assets	8.8	11.4
Liabilities
Plan liability for deferred compensation	2.3	1.9
Contingent consideration		2.5
Total liabilities	4.5	4.4
Fair value measured on a recurring basis | Interest Rate Swap
Assets
Derivative assets	6.5	9.3
Liabilities
Derivative liabilities	2.0
Fair value measured on a recurring basis | Forward exchange contracts
Assets
Derivative assets		0.2
Liabilities
Derivative liabilities	0.2
Fair value measured on a recurring basis | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets
Plan asset for deferred compensation	2.3	1.9
Total assets	2.3	1.9
Liabilities
Plan liability for deferred compensation	2.3	1.9
Total liabilities	2.3	1.9
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2)
Assets
Total assets	6.5	9.5
Liabilities
Total liabilities	2.2
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2) | Interest Rate Swap
Assets
Derivative assets	6.5	9.3
Liabilities
Derivative liabilities	2.0
Fair value measured on a recurring basis | Significant Other Observable Inputs (Level 2) | Forward exchange contracts
Assets
Derivative assets		0.2
Liabilities
Derivative liabilities	$ 0.2
Fair value measured on a recurring basis | Significant Unobservable Inputs (Level 3)
Liabilities
Contingent consideration		2.5
Total liabilities		$ 2.5