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Revenues from Contracts - Narrative (Details) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Jun. 29, 2019
Mar. 30, 2019
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 1,559.5 $ 1,520.9 $ 1,512.6
Increase (decrease) in contract with customers, net     15.9    
Revenue recognized related to contract liabilities     86.5    
Reportable segments          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     1,559.5 1,520.9 1,512.6
South Africa          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     4.0 (6.1) 72.6
Large Power Projects | South Africa | Reportable segments | Revisions in estimates for large power projects          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     0.4    
Other          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     4.0 (6.1) 72.6
Other | Large Power Projects | South Africa | Revisions in estimates for large power projects          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues       23.5  
Other | Large Power Projects | South Africa | Reportable segments | Revisions in estimates for large power projects          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues   $ (17.5)      
Other | Large Power Projects | South Africa | Reportable segments | Revisions in estimates for large power projects | Alstom GE          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues $ (6.0)        
HVAC reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 590.7 593.2 582.1
Customer contract terms     The typical length of a contract is one to three months and payment terms are generally 15 to 60 days after shipment to the customer.    
HVAC reportable segment | Reportable segments          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 590.7 593.2 582.1
Detection and Measurement reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 387.3 384.9 320.9
Customer contract terms     These product lines have varying contract lengths ranging from one to eighteen months (with the longer term contracts generally associated with our bus fare collection systems and communication technologies products lines), with the typical duration being one to three months.    
Detection and Measurement reportable segment | Reportable segments          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 387.3 384.9 320.9
Engineered Solutions reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 577.5 548.9 537.0
Customer contract terms     The length of customer contract is generally 6 to 12 months for our power transformers business and 6 to 18 months for our process cooling business. Payments on longer-term contracts are generally commensurate with milestones defined in the related contract, while payments for the replacement/spare parts contracts typically occur 30 to 60 days after delivery.    
Engineered Solutions reportable segment | Reportable segments          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 577.5 548.9 537.0
South African projects          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     3.2 (10.9) 49.1
South African projects | Other          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     3.2 (10.9) 49.1
South African projects | HVAC reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     0.0 0.0 0.0
South African projects | Detection and Measurement reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     0.0 0.0 0.0
South African projects | Engineered Solutions reportable segment          
New Accounting Pronouncements or Change in Accounting Principle [Line Items]          
Revenues     $ 0.0 $ 0.0 $ 0.0