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Goodwill and Other Intangible Assets - Changes in Carrying Amount of Goodwill (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Goodwill [Roll Forward]    
Goodwill, beginning balance $ 453.4 $ 432.2
Translation adjustments 1.5 (2.8)
Acquisitions, including measurement period adjustments 17.8  
Goodwill acquired   24.0
Goodwill, ending balance 472.7 453.4
Environmental Solutions    
Goodwill [Roll Forward]    
Goodwill, beginning balance 343.8 320.2
Translation adjustments 0.3 (0.4)
Acquisitions, including measurement period adjustments 17.8  
Goodwill acquired   24.0
Goodwill, ending balance 361.9 343.8
Safety And Security Systems    
Goodwill [Roll Forward]    
Goodwill, beginning balance 109.6 112.0
Translation adjustments 1.2 (2.4)
Acquisitions, including measurement period adjustments 0.0  
Goodwill acquired   0.0
Goodwill, ending balance $ 110.8 $ 109.6