Revenues from Contracts - Disaggregated Revenues (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Revenues	$ 1,741.2	$ 1,460.9	$ 1,219.5
Transferred at Point in Time
Disaggregation of Revenue [Line Items]
Revenues	1,568.0	1,293.1	1,077.1
Transferred over Time
Disaggregation of Revenue [Line Items]
Revenues	173.2	167.8	142.4
Package and process cooling equipment and services, and engineered air movement solutions
Disaggregation of Revenue [Line Items]
Revenues	683.2	537.0	433.8
Boilers, electrical heating, and ventilation
Disaggregation of Revenue [Line Items]
Revenues	439.1	376.8	318.3
Underground locators, inspection and rehabilitation equipment, and robotic systems
Disaggregation of Revenue [Line Items]
Revenues	264.1	262.1	256.8
Communication technologies, aids to navigation, and transportation systems
Disaggregation of Revenue [Line Items]
Revenues	354.8	285.0	210.6
HVAC
Disaggregation of Revenue [Line Items]
Revenues	1,122.3	913.8	752.1
HVAC | Transferred at Point in Time
Disaggregation of Revenue [Line Items]
Revenues	1,042.8	838.0	661.2
HVAC | Transferred over Time
Disaggregation of Revenue [Line Items]
Revenues	79.5	75.8	90.9
HVAC | Package and process cooling equipment and services, and engineered air movement solutions
Disaggregation of Revenue [Line Items]
Revenues	683.2	537.0	433.8
HVAC | Boilers, electrical heating, and ventilation
Disaggregation of Revenue [Line Items]
Revenues	439.1	376.8	318.3
HVAC | Underground locators, inspection and rehabilitation equipment, and robotic systems
Disaggregation of Revenue [Line Items]
Revenues	0.0	0.0	0.0
HVAC | Communication technologies, aids to navigation, and transportation systems
Disaggregation of Revenue [Line Items]
Revenues	0.0	0.0	0.0
Detection and Measurement
Disaggregation of Revenue [Line Items]
Revenues	618.9	547.1	467.4
Detection and Measurement | Transferred at Point in Time
Disaggregation of Revenue [Line Items]
Revenues	525.2	455.1	415.9
Detection and Measurement | Transferred over Time
Disaggregation of Revenue [Line Items]
Revenues	93.7	92.0	51.5
Detection and Measurement | Package and process cooling equipment and services, and engineered air movement solutions
Disaggregation of Revenue [Line Items]
Revenues	0.0	0.0	0.0
Detection and Measurement | Boilers, electrical heating, and ventilation
Disaggregation of Revenue [Line Items]
Revenues	0.0	0.0	0.0
Detection and Measurement | Underground locators, inspection and rehabilitation equipment, and robotic systems
Disaggregation of Revenue [Line Items]
Revenues	264.1	262.1	256.8
Detection and Measurement | Communication technologies, aids to navigation, and transportation systems
Disaggregation of Revenue [Line Items]
Revenues	$ 354.8	$ 285.0	$ 210.6