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Restructuring Actions Restructuring Costs by Type and Segment (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]      
Severance costs and other employee-related $ 41.5 $ 12.4 $ 4.5
Other 1.5 0.4 0.7
Total restructuring costs 43.0 12.8 5.2
Motion Technologies      
Restructuring Cost and Reserve [Line Items]      
Total restructuring costs 12.7 4.9 2.3
Industrial Process      
Restructuring Cost and Reserve [Line Items]      
Total restructuring costs 19.5 5.7 0.1
Connect & Control Technologies      
Restructuring Cost and Reserve [Line Items]      
Total restructuring costs 8.5 2.0 2.1
Corporate and Other [Member]      
Restructuring Cost and Reserve [Line Items]      
Total restructuring costs $ 2.3 $ 0.2 $ 0.7