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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($) $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | $ 442.4 | $ 366.7 | $ 827.9 | $ 696.9
U.S. |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 338.9 | 299.8 | 648.0 | 564.2
Canada |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 69.4 | 44.0 | 113.3 | 86.3
Europe/Other |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 34.1 | 22.9 | 66.6 | 46.4
Environmental Solutions |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 373.0 | 306.3 | 691.8 | 580.5
Environmental Solutions | Vehicles and equipment |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales | [1] | 285.0 | 235.8 | 530.3 | 453.2
Environmental Solutions | Parts |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 59.6 | 45.1 | 114.4 | 85.9
Environmental Solutions | Rental income |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales | [2] | 16.9 | 16.1 | 27.9 | 25.8
Environmental Solutions | Other |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales | [3] | 11.5 | 9.3 | 19.2 | 15.6
Safety and Security Systems |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 69.4 | 60.4 | 136.1 | 116.4
Safety and Security Systems | Public safety and security equipment |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 42.4 | 37.5 | 82.6 | 73.6
Safety and Security Systems | Industrial signaling equipment |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | 18.7 | 15.1 | 37.3 | 29.3
Safety and Security Systems | Warning systems |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Net sales |  | $ 8.3 | $ 7.8 | $ 16.2 | $ 13.5
[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.

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