Consolidated Statements of Shareholders' Equity - USD ($) $ in Millions	Total	Cumulative Effect, Period of Adoption, Adjustment	Stated Capital	Other Paid-In Capital	Retained Earnings	Retained Earnings Cumulative Effect, Period of Adoption, Adjustment	Accumulated Other Comprehensive Income (Loss)	Accumulated Other Comprehensive Income (Loss) Cumulative Effect, Period of Adoption, Adjustment	Treasury Shares	Non- controlling Interest
Beginning Balance at Dec. 31, 2017	$ 1,474.9		$ 53.1	$ 903.8	$ 1,408.4		$ (38.3)		$ (884.3)	$ 32.2
Beginning Balance (Cumulative effect of ASU 2014-09) at Dec. 31, 2017		$ 4.0				$ 4.0
Beginning Balance (Cumulative effect of ASU 2018-02) at Dec. 31, 2017						0.7		$ (0.7)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net Income	305.5				302.8					2.7
Foreign currency translation adjustments	(67.4)						(60.5)			(6.9)
Pension and other postretirement liability adjustments	0.4						0.4
Change in fair value of derivative financial instruments, net of reclassifications	3.8						3.8
Shares issued for the acquisition of ABC Bearings	66.0			30.9						35.1
Dividends	(85.7)				(85.7)
Stock-based compensation expense	32.3			32.3
Purchase of treasury shares	(98.5)								(98.5)
Stock option exercise activity	12.8			(3.8)					16.6
Restricted share activity	0.0			(11.3)					11.3
Payments related to tax withholding for stock-based compensation	(5.4)								(5.4)
Ending Balance at Dec. 31, 2018	1,642.7		53.1	951.9	1,630.2		(95.3)		(960.3)	63.1
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net Income	374.7				362.1					12.6
Foreign currency translation adjustments	(19.9)						(19.7)			(0.2)
Pension and other postretirement liability adjustments	66.9						66.9
Change in fair value of derivative financial instruments, net of reclassifications	(2.0)						(2.0)
Change in ownership of noncontrolling interest	(0.5)			(10.3)						9.8
Noncontrolling interest acquired	1.8									1.8
Dividends declared to noncontrolling interest	(0.5)									(0.5)
Dividends	(84.9)				(84.9)
Stock-based compensation expense	27.1			27.1
Purchase of treasury shares	(62.7)								(62.7)
Stock option exercise activity	27.5			(7.8)					35.3
Restricted share activity	0.0			(23.3)					23.3
Payments related to tax withholding for stock-based compensation	(15.4)								(15.4)
Ending Balance at Dec. 31, 2019	1,954.8	$ (0.5)	53.1	937.6	1,907.4	$ (0.5)	(50.1)		(979.8)	86.6
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net Income	292.4				284.5					7.9
Foreign currency translation adjustments	92.7						97.3			(4.6)
Pension and other postretirement liability adjustments	(3.5)						(3.5)
Change in fair value of derivative financial instruments, net of reclassifications	(2.4)						(2.4)
Change in ownership of noncontrolling interest	0.5									0.5
Noncontrolling interest acquired	(1.0)			1.0						(2.0)
Dividends declared to noncontrolling interest	(16.1)									(16.1)
Treasury stock retirement	0.0		(12.4)	(213.3)	(764.9)				990.6
Dividends	(87.0)				(87.0)
Stock-based compensation expense	23.2			23.2
Purchase of treasury shares	(49.3)								(49.3)
Stock option exercise activity	37.4			16.1					21.3
Restricted share activity	0.0			(23.9)					23.9
Payments related to tax withholding for stock-based compensation	(16.0)								(16.0)
Ending Balance at Dec. 31, 2020	$ 2,225.2		$ 40.7	$ 740.7	$ 1,339.5		$ 41.3		$ (9.3)	$ 72.3