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Revenues from Contracts - Disaggregated Revenues (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disaggregation of Revenue [Line Items]      
Revenues $ 1,559.5 $ 1,520.9 $ 1,512.6
Contract Accounts Receivable 260.7 259.7  
Increase (decrease) in accounts receivable 1.0    
Contract assets 81.1 63.1  
Increase (decrease) in contract with customer, asset, net, current 18.0    
Contract Liabilities - current (103.5) (100.5)  
Increase (decrease) in contract with customer, liability, current (3.0)    
Contract liabilities - non-current (3.4) (3.3)  
Increase (decrease) in contract with customer, liability, noncurrent (0.1)    
Net contract balance 234.9 219.0  
Increase in contract with customers, net 15.9    
Transferred at Point in Time      
Disaggregation of Revenue [Line Items]      
Revenues 974.1 998.7 950.9
Transferred over Time      
Disaggregation of Revenue [Line Items]      
Revenues 585.4 522.2 561.7
Cooling      
Disaggregation of Revenue [Line Items]      
Revenues 297.0 284.2 281.7
Boilers, comfort heating, and ventilation      
Disaggregation of Revenue [Line Items]      
Revenues 293.7 309.0 300.4
Underground locators, inspection and rehabilitation equipment, and robotic systems      
Disaggregation of Revenue [Line Items]      
Revenues 217.8 194.3 159.1
Signal monitoring, obstruction lighting, and bus fare collection systems      
Disaggregation of Revenue [Line Items]      
Revenues 169.5 190.6 161.8
Power transformers      
Disaggregation of Revenue [Line Items]      
Revenues 427.4 403.4 373.8
Process cooling equipment and services      
Disaggregation of Revenue [Line Items]      
Revenues 150.9 150.3 186.7
South African projects      
Disaggregation of Revenue [Line Items]      
Revenues 3.2 (10.9) 49.1
South Africa      
Disaggregation of Revenue [Line Items]      
Revenues 4.0 (6.1) 72.6
HVAC      
Disaggregation of Revenue [Line Items]      
Revenues 590.7 593.2 582.1
HVAC | Transferred at Point in Time      
Disaggregation of Revenue [Line Items]      
Revenues 590.7 593.2 582.1
HVAC | Transferred over Time      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
HVAC | Cooling      
Disaggregation of Revenue [Line Items]      
Revenues 297.0 284.2 281.7
HVAC | Boilers, comfort heating, and ventilation      
Disaggregation of Revenue [Line Items]      
Revenues 293.7 309.0 300.4
HVAC | Underground locators, inspection and rehabilitation equipment, and robotic systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
HVAC | Signal monitoring, obstruction lighting, and bus fare collection systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
HVAC | Power transformers      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
HVAC | Process cooling equipment and services      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
HVAC | South African projects      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Detection and Measurement      
Disaggregation of Revenue [Line Items]      
Revenues 387.3 384.9 320.9
Detection and Measurement | Transferred at Point in Time      
Disaggregation of Revenue [Line Items]      
Revenues 341.9 357.1 307.3
Detection and Measurement | Transferred over Time      
Disaggregation of Revenue [Line Items]      
Revenues 45.4 27.8 13.6
Detection and Measurement | Cooling      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Detection and Measurement | Boilers, comfort heating, and ventilation      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Detection and Measurement | Underground locators, inspection and rehabilitation equipment, and robotic systems      
Disaggregation of Revenue [Line Items]      
Revenues 217.8 194.3 159.1
Detection and Measurement | Signal monitoring, obstruction lighting, and bus fare collection systems      
Disaggregation of Revenue [Line Items]      
Revenues 169.5 190.6 161.8
Detection and Measurement | Power transformers      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Detection and Measurement | Process cooling equipment and services      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Detection and Measurement | South African projects      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Engineered Solutions      
Disaggregation of Revenue [Line Items]      
Revenues 577.5 548.9 537.0
Engineered Solutions | Transferred at Point in Time      
Disaggregation of Revenue [Line Items]      
Revenues 41.3 48.4 61.5
Engineered Solutions | Transferred over Time      
Disaggregation of Revenue [Line Items]      
Revenues 536.2 500.5 475.5
Engineered Solutions | Cooling      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Engineered Solutions | Boilers, comfort heating, and ventilation      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Engineered Solutions | Underground locators, inspection and rehabilitation equipment, and robotic systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Engineered Solutions | Signal monitoring, obstruction lighting, and bus fare collection systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Engineered Solutions | Power transformers      
Disaggregation of Revenue [Line Items]      
Revenues 427.4 403.4 373.8
Engineered Solutions | Process cooling equipment and services      
Disaggregation of Revenue [Line Items]      
Revenues 150.1 145.5 163.2
Engineered Solutions | South African projects      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other      
Disaggregation of Revenue [Line Items]      
Revenues 4.0 (6.1) 72.6
Other | Transferred at Point in Time      
Disaggregation of Revenue [Line Items]      
Revenues 0.2 0.0 0.0
Other | Transferred over Time      
Disaggregation of Revenue [Line Items]      
Revenues 3.8 (6.1) 72.6
Other | Cooling      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other | Boilers, comfort heating, and ventilation      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other | Underground locators, inspection and rehabilitation equipment, and robotic systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other | Signal monitoring, obstruction lighting, and bus fare collection systems      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other | Power transformers      
Disaggregation of Revenue [Line Items]      
Revenues 0.0 0.0 0.0
Other | Process cooling equipment and services      
Disaggregation of Revenue [Line Items]      
Revenues 0.8 4.8 23.5
Other | South African projects      
Disaggregation of Revenue [Line Items]      
Revenues $ 3.2 (10.9) $ 49.1
Other | Large Power Projects | Revisions in estimates for large power projects | South Africa      
Disaggregation of Revenue [Line Items]      
Revenues   $ 23.5