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Special Charges, Net - Narrative (Details)
$ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
employee
Dec. 31, 2021
USD ($)
employee
Dec. 31, 2020
USD ($)
employee
Special charges, net      
Special charges, net | $ $ 0.4 $ 1.0 $ 2.4
Period for selling an asset 1 year    
Period for settling liabilities 1 year    
HVAC reportable segment | Employee Termination Costs      
Special charges, net      
Number of employees terminated 2 6 11
Detection and Measurement reportable segment | Employee Termination Costs      
Special charges, net      
Number of employees terminated   44 5