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Discontinued Operations - Additional Information (Details)
€ in Millions, $ in Millions
 3 Months Ended 12 Months Ended
Jan. 29, 2016
EUR (€)
Jan. 29, 2016
USD ($)
Dec. 31, 2017
USD ($)
Sep. 30, 2017
USD ($)
Jun. 30, 2017
USD ($)
Mar. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Sep. 30, 2016
USD ($)
 [1]
Jun. 30, 2016
EUR (€)
Jun. 30, 2016
USD ($)
Mar. 31, 2016
USD ($)
 [1]
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Dec. 31, 2012
USD ($)
Dec. 31, 2014
USD ($)
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Decrease (increase) uncertain tax position reserves                         $ 1.0      
Proceeds from escrow receivable                       $ 0.0 0.0 $ 4.0    
Gain (loss) from discontinued operations and disposal, net of tax     $ 1.1 $ 0.0 $ (0.1) $ 0.1 $ 0.5 [1] $ 1.0   $ (0.3) [1] $ 3.2 1.1 4.4 (2.3)    
Income tax (benefit) expense of discontinued operations                       (0.8) 3.4 8.3    
Other current liabilities     0.5       2.1         0.5 2.1      
Other long-term liabilities     1.5       2.0         1.5 2.0      
Escrow                                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Proceeds from sale agreement                             $ 22.0  
Escrow identified for general representations and warranties period                             18 months  
Remaining general escrow fund to be held                             36 months  
Amount received from escrow                               $ 7.4
Income (loss) from discontinued operations, net of tax                           4.0    
Income tax (benefit) expense of discontinued operations                           1.5    
Fire Rescue                                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Proceeds from escrow receivable € 76.0 $ 82.3             € 5.1 $ 5.7            
Gain (loss) from discontinued operations and disposal, net of tax                         4.2      
Income tax (benefit) expense of discontinued operations                         4.6 $ 6.3    
Other current liabilities     0.0       1.3         0.0 1.3      
Other long-term liabilities     0.0       0.0         0.0 0.0      
Pearland Texas Facility                                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Other current liabilities     0.5       0.6         0.5 0.6      
Damages from Product Defects                                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Other long-term liabilities     $ 1.4       $ 1.8         $ 1.4 1.8      
Latvian Commercial Dispute                                
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]                                
Loss contingency, loss in period                         $ 1.3      
Litigation settlement, percent of settlement costs                         0.50      
[1] The adoption of ASU 2016-09 in the fourth quarter of 2016 did not impact the previously-reported quarterly results for 2016.