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Goodwill and Other Intangible Assets - Goodwill (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Oct. 02, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Sep. 02, 2020
Changes in the carrying amount of goodwill              
Gross goodwill, beginning of the period       $ 953,800,000 $ 843,700,000    
Accumulated impairment, balance at the beginning of the period       (496,500,000) (475,100,000)    
Goodwill, balance at the beginning of the period       457,300,000 368,600,000    
Goodwill resulting from business combinations       19,900,000 124,700,000    
Impairments       0 (28,200,000)    
Accumulated impairment       (12,000,000.0)      
Goodwill, impairment, net of accumulation       (12,000,000.0)      
Gross goodwill related to foreign currency translation       (19,000,000.0) (14,600,000)    
Accumulated impairments related to foreign currency translation       9,100,000 6,800,000    
Goodwill related to foreign currency translation       (9,900,000) (7,800,000)    
Gross goodwill, end of the period $ 954,700,000 $ 953,800,000   954,700,000 953,800,000 $ 843,700,000  
Accumulated impairment, balance at the end of the period (499,400,000) (496,500,000)   (499,400,000) (496,500,000) (475,100,000)  
Goodwill, balance at the end of the period 455,300,000 457,300,000   455,300,000 457,300,000 368,600,000  
Impairment of goodwill and intangible assets       13,400,000 30,000,000.0 700,000  
Other indefinite-lived intangible assets 500,000 500,000          
Non-cash asset write-downs 13,400,000 5,700,000   300,000 0 400,000  
Intangibles, net 401,600,000 415,500,000   401,600,000 415,500,000    
ULC Robotics              
Changes in the carrying amount of goodwill              
Impairments (12,000,000.0)            
Goodwill, balance at the end of the period 0     0      
Impairment of goodwill and intangible assets 12,900,000 5,200,000   12,900,000 29,500,000    
Trademarks              
Changes in the carrying amount of goodwill              
Non-cash asset write-downs       500,000 500,000 700,000  
Trademarks | ULC Robotics              
Changes in the carrying amount of goodwill              
Other indefinite-lived intangible assets 900,000     900,000 1,300,000    
Intangibles, net 5,400,000     5,400,000      
ITL              
Changes in the carrying amount of goodwill              
Goodwill resulting from business combinations       10,800,000      
Sealite Acquisition              
Changes in the carrying amount of goodwill              
Goodwill resulting from business combinations         47,700,000    
Goodwill, period increase (decrease)       200,000      
Cincinnati Fan              
Changes in the carrying amount of goodwill              
Goodwill resulting from business combinations         46,000,000.0    
Goodwill, period increase (decrease)       8,900,000      
Enterprise Control Systems Ltd              
Changes in the carrying amount of goodwill              
Goodwill resulting from business combinations         25,900,000    
Contingent consideration 0.0 1,500,000 $ 8,200,000 0.0 1,500,000    
ULC Robotics              
Changes in the carrying amount of goodwill              
Impairments   (5,200,000)          
Goodwill, period increase (decrease)         3,100,000    
Impairment of goodwill and intangible assets     24,300,000   24,300,000 700,000  
Contingent consideration     24,300,000       $ 24,300,000
Non-cash asset write-downs       500,000 500,000    
ULC Robotics | Goodwill              
Changes in the carrying amount of goodwill              
Impairments   (4,900,000) (23,300,000)        
ULC Robotics | Trademarks              
Changes in the carrying amount of goodwill              
Intangibles, net   300,000     300,000    
ULC Robotics | Other Operating Income (Expense)              
Changes in the carrying amount of goodwill              
Impairment of goodwill and intangible assets     $ 24,300,000        
Sensors & Software              
Changes in the carrying amount of goodwill              
Goodwill, period increase (decrease)         2,000,000.0    
HVAC reportable segment              
Changes in the carrying amount of goodwill              
Gross goodwill, beginning of the period       528,900,000 492,200,000    
Accumulated impairment, balance at the beginning of the period       (334,100,000) (340,600,000)    
Goodwill, balance at the beginning of the period       194,800,000 151,600,000    
Goodwill resulting from business combinations       8,900,000 46,000,000.0    
Impairments       0 0    
Accumulated impairment       0      
Goodwill, impairment, net of accumulation       0      
Gross goodwill related to foreign currency translation       (8,300,000) (9,300,000)    
Accumulated impairments related to foreign currency translation       5,900,000 6,500,000    
Goodwill related to foreign currency translation       (2,400,000) (2,800,000)    
Gross goodwill, end of the period 529,500,000 528,900,000   529,500,000 528,900,000 492,200,000  
Accumulated impairment, balance at the end of the period (328,200,000) (334,100,000)   (328,200,000) (334,100,000) (340,600,000)  
Goodwill, balance at the end of the period 201,300,000 194,800,000   201,300,000 194,800,000 151,600,000  
Detection and Measurement reportable segment              
Changes in the carrying amount of goodwill              
Gross goodwill, beginning of the period       424,900,000 351,500,000    
Accumulated impairment, balance at the beginning of the period       (162,400,000) (134,500,000)    
Goodwill, balance at the beginning of the period       262,500,000 217,000,000.0    
Goodwill resulting from business combinations       11,000,000.0 78,700,000    
Impairments       0 (28,200,000)    
Accumulated impairment       (12,000,000.0)      
Goodwill, impairment, net of accumulation       (12,000,000.0)      
Gross goodwill related to foreign currency translation       (10,700,000) (5,300,000)    
Accumulated impairments related to foreign currency translation       3,200,000 300,000    
Goodwill related to foreign currency translation       (7,500,000) (5,000,000.0)    
Gross goodwill, end of the period 425,200,000 424,900,000   425,200,000 424,900,000 351,500,000  
Accumulated impairment, balance at the end of the period (171,200,000) (162,400,000)   (171,200,000) (162,400,000) (134,500,000)  
Goodwill, balance at the end of the period $ 254,000,000.0 $ 262,500,000   $ 254,000,000.0 $ 262,500,000 $ 217,000,000.0