Restructuring Expenses and Asset Impairments - Schedule of Pre-Tax Restructuring Expenses by Segment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 9.3	$ 11.8	$ 21.0
Severance Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	8.5	8.5	9.8
Exit Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.2	1.0
Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.8	3.1	10.2
Operating Segments | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	4.5	5.6	2.9
Operating Segments | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.7	2.7	14.2
Operating Segments | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.5	2.5	1.3
Operating Segments | Severance Costs | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	3.7	2.9	2.9
Operating Segments | Severance Costs | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.7	2.7	3.0
Operating Segments | Severance Costs | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.5	2.5	1.3
Operating Segments | Exit Costs | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.2	0.0
Operating Segments | Exit Costs | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	1.0
Operating Segments | Exit Costs | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	0.0
Operating Segments | Asset Impairment | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.8	2.5	0.0
Operating Segments | Asset Impairment | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	10.2
Operating Segments | Asset Impairment | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	0.0
Corporate office and other
Restructuring Cost and Reserve [Line Items]
Restructuring costs	2.6	1.0	2.6
Corporate office and other | Severance Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	2.6	0.4	2.6
Corporate office and other | Exit Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	0.0
Corporate office and other | Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 0.0	$ 0.6	$ 0.0