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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]      
Net sales $ 1,722.7 $ 1,434.8 $ 1,213.2
Rental income      
Disaggregation of Revenue [Line Items]      
Net sales 55.2 53.1 44.7
Environmental Solutions      
Disaggregation of Revenue [Line Items]      
Net sales 1,437.9 1,190.6 1,004.0
Environmental Solutions | Vehicles and equipment      
Disaggregation of Revenue [Line Items]      
Net sales [1] 1,120.9 927.9 764.3
Environmental Solutions | Parts      
Disaggregation of Revenue [Line Items]      
Net sales 217.0 173.7 150.3
Environmental Solutions | Rental income      
Disaggregation of Revenue [Line Items]      
Net sales [2] 55.2 53.1 44.7
Environmental Solutions | Other      
Disaggregation of Revenue [Line Items]      
Net sales [3] 44.8 35.9 44.7
Safety And Security Systems      
Disaggregation of Revenue [Line Items]      
Net sales 284.8 244.2 209.2
Safety And Security Systems | Public safety and security equipment      
Disaggregation of Revenue [Line Items]      
Net sales 173.2 149.1 126.1
Safety And Security Systems | Industrial signaling equipment      
Disaggregation of Revenue [Line Items]      
Net sales 71.9 62.1 53.9
Safety And Security Systems | Warning systems      
Disaggregation of Revenue [Line Items]      
Net sales $ 39.7 $ 33.0 $ 29.2
[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.