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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.