Restructuring Expenses and Asset Impairments - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	12 Months Ended
	Jun. 30, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Impairment, Intangible Asset, Finite-Lived, Statement of Income or Comprehensive Income [Extensible Enumeration]		Restructuring expenses and asset impairments	Restructuring expenses and asset impairments
Restructuring costs		$ 22.8	$ 9.3	$ 11.8
Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs		17.4	0.8	3.1
Corporate/Other
Restructuring Cost and Reserve [Line Items]
Restructuring costs		0.3	2.6	1.0
Corporate/Other | Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs		0.0	0.0	0.6
HST | Operating Segments
Restructuring Cost and Reserve [Line Items]
Contract with customer, amount reimbursed	$ 28.7
Impairment of definite-lived assets		16.8
Revenue recognized		17.9
Restructuring costs		18.0	1.7	2.7
HST | Operating Segments | Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs		16.8	0.0	0.0
FMT | Operating Segments
Restructuring Cost and Reserve [Line Items]
Restructuring costs		2.7	4.5	5.6
FMT | Operating Segments | Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs		0.5	0.8	$ 2.5
Property, plant and equipment
Restructuring Cost and Reserve [Line Items]
Asset impairment charges		$ 17.4	$ 0.8