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Restructuring - Costs by Type and Segment (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Severance and other employee-related costs | $ 8.0 | $ 3.5 | $ 8.0
Asset write-offs | 1.8 | 0.1 | 0.6
Other | 0.1 | 0.2 | 1.0
Total restructuring costs | 9.9 | 3.8 | 9.6
Motion Technologies |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 4.0 | 2.7 | 3.9
Industrial Process |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 4.6 | 1.3 | 3.1
Connect & Control Technologies |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | 1.3 | 0.0 | 2.4
Corporate and Other [Member] |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Total restructuring costs | $ 0.0 | $ (0.2) | $ 0.2

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