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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | $ 1,130.8 | $ 1,221.3
Environmental Solutions |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | 915.8 | 992.9
Environmental Solutions | Vehicles and equipment |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | [1] | 719.3 | 788.7
Environmental Solutions | Parts |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | 129.4 | 132.8
Environmental Solutions | Rental income |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | [2] | 36.6 | 46.2
Environmental Solutions | Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | [3] | 30.5 | 25.2
Safety And Security Systems |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | 215.0 | 228.4
Safety And Security Systems | Public safety and security equipment |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | 132.6 | 133.5
Safety And Security Systems | Industrial signaling equipment |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | 50.8 | 59.3
Safety And Security Systems | Warning systems |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  | $ 31.6 | $ 35.6
[1] | Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment.
[2] | Represents revenues from vehicle and equipment lease arrangements with customers, recognized in accordance with Topic 842 and Topic 840, as applicable.
[3] | Primarily includes revenues from services such as maintenance and repair work and the sale of extended warranty contracts.

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- Definition Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 30 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8906-108599 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 40 -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9031-108599 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 41 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9038-108599 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 32 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8933-108599 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 32 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8933-108599 Reference 6: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 4 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130543-203045 Reference 7: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 22 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8736-108599 Reference 8: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 22 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8736-108599 Reference 9: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 42 -URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9054-108599 Reference 10: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 5 -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130545-203045 Reference 11: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 924 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 11.L) -URI http://asc.fasb.org/extlink&oid=6472922&loc=d3e499488-122856 + Details
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