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Pensions - Additional Information (Detail) - USD ($)
shares in Millions, $ in Millions
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Defined Benefit Plan Disclosure [Line Items]      
Contributions to certain multiemployer pension plans $ 0.1 $ 0.2 $ 0.2
Purchases of common stock 37.8 10.6 10.3
Amortization of actuarial loss 3.2    
Cost of defined contribution pension plans 6.9 7.5 7.1
Cash dividends paid to stockholders $ 16.9 15.6 $ 5.6
Defined Benefit Postretirement Health Coverage      
Defined Benefit Plan Disclosure [Line Items]      
Eligible age for pension plan benefits 60 years    
Minimum service period to be eligible for pension plan benefits 15 years    
Accumulated postretirement benefit liabilities $ 0.4 $ 0.5  
Federal Signal common stock      
Defined Benefit Plan Disclosure [Line Items]      
Equity securities, common stock (shares)   0.2  
U.S. Benefit Plans      
Defined Benefit Plan Disclosure [Line Items]      
Weighted-average target return of pension plans 7.50% 7.80% 7.60%
Purchases of common stock   $ 3.6  
Funded status $ 49.5 46.2  
Expected contribution to defined benefit plan 5.0    
Accumulated postretirement benefit liabilities $ 180.6 173.5  
Cash dividends paid to stockholders   $ 0.1  
U.S. Benefit Plans | Equity Securities      
Defined Benefit Plan Disclosure [Line Items]      
Minimum target allocation 45.00%    
Maximum target allocation 75.00%    
U.S. Benefit Plans | Fixed Income Securities      
Defined Benefit Plan Disclosure [Line Items]      
Minimum target allocation 15.00%    
Maximum target allocation 40.00%    
U.S. Benefit Plans | Other Investments [Member]      
Defined Benefit Plan Disclosure [Line Items]      
Minimum target allocation 0.00%    
Maximum target allocation 20.00%    
U.S. Benefit Plans | Maximum      
Defined Benefit Plan Disclosure [Line Items]      
Weighted-average target return of pension plans 7.10%    
Non-U.S. Benefit Plan      
Defined Benefit Plan Disclosure [Line Items]      
Weighted-average target return of pension plans 4.90% 4.70% 5.90%
Funded status $ 3.2 $ 1.4  
Expected contribution to defined benefit plan 1.3    
Accumulated postretirement benefit liabilities $ 51.7 $ 55.7  
Non-U.S. Benefit Plan | Equity Securities      
Defined Benefit Plan Disclosure [Line Items]      
Minimum target allocation 70.00%    
Maximum target allocation 80.00%    
Non-U.S. Benefit Plan | Debt Securities [Member]      
Defined Benefit Plan Disclosure [Line Items]      
Minimum target allocation 20.00%    
Maximum target allocation 30.00%