Restructuring Expenses and Asset Impairments - Schedule of Pre-Tax Restructuring Expenses by Segment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	$ 10.9	$ 22.8	$ 9.3
Severance Costs
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	9.1	5.1	8.5
Exit Costs
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	1.0	0.3	0.0
Asset Impairments
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.8	17.4	0.8
Operating Segments | FMT
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	2.9	2.7	4.5
Operating Segments | HST
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	6.6	18.0	1.7
Operating Segments | FSDP
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.9	1.8	0.5
Operating Segments | Severance Costs | FMT
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	1.5	1.9	3.7
Operating Segments | Severance Costs | HST
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	6.4	1.2	1.7
Operating Segments | Severance Costs | FSDP
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.7	1.7	0.5
Operating Segments | Exit Costs | FMT
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.6	0.3	0.0
Operating Segments | Exit Costs | HST
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.2	0.0	0.0
Operating Segments | Exit Costs | FSDP
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.2	0.0	0.0
Operating Segments | Asset Impairments | FMT
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.8	0.5	0.8
Operating Segments | Asset Impairments | HST
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.0	16.8	0.0
Operating Segments | Asset Impairments | FSDP
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.0	0.1	0.0
Corporate/Other
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.5	0.3	2.6
Corporate/Other | Severance Costs
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.5	0.3	2.6
Corporate/Other | Exit Costs
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	0.0	0.0	0.0
Corporate/Other | Asset Impairments
Restructuring Cost and Reserve [Line Items]
Total restructuring costs	$ 0.0	$ 0.0	$ 0.0