Restructuring Expenses and Asset Impairments - Schedule of Pre-Tax Restructuring Expenses by Segment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 22.8	$ 9.3	$ 11.8
Severance Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	5.1	8.5	8.5
Exit Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.3	0.0	0.2
Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs	17.4	0.8	3.1
Operating Segments | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	2.7	4.5	5.6
Operating Segments | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	18.0	1.7	2.7
Operating Segments | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.8	0.5	2.5
Operating Segments | Severance Costs | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.9	3.7	2.9
Operating Segments | Severance Costs | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.2	1.7	2.7
Operating Segments | Severance Costs | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	1.7	0.5	2.5
Operating Segments | Exit Costs | FMT
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.3	0.0	0.2
Operating Segments | Exit Costs | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	0.0
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	0.5	0.8	2.5
Operating Segments | Asset Impairment | HST
Restructuring Cost and Reserve [Line Items]
Restructuring costs	16.8	0.0	0.0
Operating Segments | Asset Impairment | FSDP
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.1	0.0	0.0
Corporate/Other
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.3	2.6	1.0
Corporate/Other | Severance Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.3	2.6	0.4
Corporate/Other | Exit Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs	0.0	0.0	0.0
Corporate/Other | Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 0.0	$ 0.0	$ 0.6