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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Disaggregation of Revenue [Line Items]      
Net sales $ 1,213.2 $ 1,130.8 $ 1,221.3
Environmental Solutions      
Disaggregation of Revenue [Line Items]      
Net sales 1,004.0 915.8 992.9
Environmental Solutions | Vehicles and equipment      
Disaggregation of Revenue [Line Items]      
Net sales [1] 764.3 719.3 788.7
Environmental Solutions | Parts      
Disaggregation of Revenue [Line Items]      
Net sales 150.3 129.4 132.8
Environmental Solutions | Rental income      
Disaggregation of Revenue [Line Items]      
Net sales [2] 44.7 36.6 46.2
Environmental Solutions | Other      
Disaggregation of Revenue [Line Items]      
Net sales [3] 44.7 30.5 25.2
Safety And Security Systems      
Disaggregation of Revenue [Line Items]      
Net sales 209.2 215.0 228.4
Safety And Security Systems | Public safety and security equipment      
Disaggregation of Revenue [Line Items]      
Net sales 126.1 132.6 133.5
Safety And Security Systems | Industrial signaling equipment      
Disaggregation of Revenue [Line Items]      
Net sales 53.9 50.8 59.3
Safety And Security Systems | Warning systems      
Disaggregation of Revenue [Line Items]      
Net sales $ 29.2 $ 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.
[3] Primarily includes revenues from services such as maintenance and repair work and the sale of extended warranty contracts.