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Revenues from Contracts - Effect of ASC 606 (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 12 Months Ended
Dec. 31, 2019
Sep. 28, 2019
Jun. 29, 2019
Mar. 30, 2019
Dec. 31, 2018
Sep. 29, 2018
Jun. 30, 2018
Mar. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                      
Revenues $ 444.6 $ 364.8 $ 372.4 $ 343.6 $ 445.0 $ 362.5 $ 379.2 $ 351.9 $ 1,525.4 $ 1,538.6 $ 1,425.8
Cost of products sold                 1,084.3 1,127.9 1,095.6
Selling, general and administrative                 318.5 292.6 277.2
Operating income                 107.9 107.6 59.9
Income from continuing operations before income taxes                 83.2 79.6 36.1
Income tax provision                 (13.5) (1.4) 47.9
Income from continuing operations 28.5 21.2 19.4 0.6 39.3 6.8 19.7 12.4 69.7 78.2 84.0
Net income $ 25.4 $ 21.5 $ 19.2 $ (0.8) $ 39.2 $ 6.6 $ 23.0 $ 12.4 65.3 81.2 89.3
Comprehensive income                 $ 64.7 $ 76.0 $ 104.3
Continuing operations (in dollars per share) $ 0.77 $ 0.48 $ 0.44 $ 0.01 $ 0.91 $ 0.16 $ 0.46 $ 0.29 $ 1.71 $ 1.82 $ 1.98
Net income per share (in dollars per share) 0.70 0.49 0.44 (0.02) 0.90 0.15 0.54 0.29 1.61 1.89 2.11
Continuing operations (in dollars per share) 0.75 0.47 0.43 0.01 0.88 0.15 0.44 0.28 1.67 1.75 1.91
Net income per share (in dollars per share) $ 0.68 $ 0.48 $ 0.43 $ (0.02) $ 0.88 $ 0.15 $ 0.51 $ 0.28 $ 1.58 $ 1.82 $ 2.03
Difference between Revenue Guidance in Effect before and after Topic 606 | Effect of ASC 606 Adoption                      
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                      
Revenues                   $ (14.2)  
Cost of products sold                   (11.6)  
Selling, general and administrative                   (0.6)  
Operating income                   (2.0)  
Income from continuing operations before income taxes                   (2.0)  
Income tax provision                   0.5  
Income from continuing operations                   (1.5)  
Net income                   (1.5)  
Comprehensive income                   $ (0.5)  
Continuing operations (in dollars per share)                   $ (0.04)  
Net income per share (in dollars per share)                   (0.04)  
Continuing operations (in dollars per share)                   (0.03)  
Net income per share (in dollars per share)                   $ (0.03)  
Under Prior Revenue Recognition Guidance                      
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]                      
Revenues                   $ 1,524.4  
Cost of products sold                   1,116.3  
Selling, general and administrative                   292.0  
Operating income                   105.6  
Income from continuing operations before income taxes                   77.6  
Income tax provision                   (0.9)  
Income from continuing operations                   76.7  
Net income                   79.7  
Comprehensive income                   $ 75.5  
Continuing operations (in dollars per share)                   $ 1.78  
Net income per share (in dollars per share)                   1.85  
Continuing operations (in dollars per share)                   1.72  
Net income per share (in dollars per share)                   $ 1.79