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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Disaggregation of Revenue [Line Items]    
Net sales $ 385.5 $ 330.2
U.S.    
Disaggregation of Revenue [Line Items]    
Net sales 309.1 264.4
Canada    
Disaggregation of Revenue [Line Items]    
Net sales 43.9 42.3
Europe/Other    
Disaggregation of Revenue [Line Items]    
Net sales 32.5 23.5
Environmental Solutions    
Disaggregation of Revenue [Line Items]    
Net sales 318.8 274.2
Environmental Solutions | Vehicles and equipment    
Disaggregation of Revenue [Line Items]    
Net sales [1] 245.3 217.4
Environmental Solutions | Parts    
Disaggregation of Revenue [Line Items]    
Net sales 54.8 40.8
Environmental Solutions | Rental income    
Disaggregation of Revenue [Line Items]    
Net sales [2] 11.0 9.7
Environmental Solutions | Other    
Disaggregation of Revenue [Line Items]    
Net sales [3] 7.7 6.3
Safety and Security Systems    
Disaggregation of Revenue [Line Items]    
Net sales 66.7 56.0
Safety and Security Systems | Public safety and security equipment    
Disaggregation of Revenue [Line Items]    
Net sales 40.2 36.1
Safety and Security Systems | Industrial signaling equipment    
Disaggregation of Revenue [Line Items]    
Net sales 18.6 14.2
Safety and Security Systems | Warning systems    
Disaggregation of Revenue [Line Items]    
Net sales $ 7.9 $ 5.7
[1] Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment.
[2] Represents income from vehicle and equipment lease arrangements with customers.
[3] Primarily includes revenues from services, such as maintenance and repair work, and the sale of extended warranty contracts.