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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Disaggregation of Revenue [Line Items]    
Net sales $ 424.9 $ 385.5
U.S.    
Disaggregation of Revenue [Line Items]    
Net sales 334.3 309.1
Canada    
Disaggregation of Revenue [Line Items]    
Net sales 59.3 43.9
Europe/Other    
Disaggregation of Revenue [Line Items]    
Net sales 31.3 32.5
Environmental Solutions    
Disaggregation of Revenue [Line Items]    
Net sales 354.0 318.8
Environmental Solutions | Vehicles and equipment    
Disaggregation of Revenue [Line Items]    
Net sales [1] 272.3 245.3
Environmental Solutions | Parts    
Disaggregation of Revenue [Line Items]    
Net sales 61.0 54.8
Environmental Solutions | Rental income    
Disaggregation of Revenue [Line Items]    
Net sales [2] 12.0 11.0
Environmental Solutions | Other    
Disaggregation of Revenue [Line Items]    
Net sales [3] 8.7 7.7
Safety and Security Systems    
Disaggregation of Revenue [Line Items]    
Net sales 70.9 66.7
Safety and Security Systems | Public safety and security equipment    
Disaggregation of Revenue [Line Items]    
Net sales 44.9 40.2
Safety and Security Systems | Industrial signaling equipment    
Disaggregation of Revenue [Line Items]    
Net sales 16.9 18.6
Safety and Security Systems | Warning systems    
Disaggregation of Revenue [Line Items]    
Net sales $ 9.1 $ 7.9
[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.