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Revenue Recognition - Disaggregation of Revenue From Contracts With Customers (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Disaggregation of Revenue [Line Items]        
Net sales $ 474.2 $ 446.4 $ 1,389.5 $ 1,274.3
U.S.        
Disaggregation of Revenue [Line Items]        
Net sales 379.9 340.0 1,098.6 988.0
Canada        
Disaggregation of Revenue [Line Items]        
Net sales 60.7 67.1 189.4 180.4
Europe/Other        
Disaggregation of Revenue [Line Items]        
Net sales 33.6 39.3 101.5 105.9
Environmental Solutions        
Disaggregation of Revenue [Line Items]        
Net sales 398.2 373.0 1,161.0 1,064.8
Environmental Solutions | Vehicles and equipment        
Disaggregation of Revenue [Line Items]        
Net sales 308.6 [1] 290.5 [1] 899.5 820.8
Environmental Solutions | Parts        
Disaggregation of Revenue [Line Items]        
Net sales 56.8 53.8 177.9 168.2
Environmental Solutions | Rental income        
Disaggregation of Revenue [Line Items]        
Net sales 15.4 [2] 13.8 [2] 44.8 41.7
Environmental Solutions | Other        
Disaggregation of Revenue [Line Items]        
Net sales 17.4 [3] 14.9 [3] 38.8 34.1
Safety and Security Systems        
Disaggregation of Revenue [Line Items]        
Net sales 76.0 73.4 228.5 209.5
Safety and Security Systems | Public safety and security equipment        
Disaggregation of Revenue [Line Items]        
Net sales 48.2 44.2 146.2 126.8
Safety and Security Systems | Industrial signaling equipment        
Disaggregation of Revenue [Line Items]        
Net sales 17.9 17.8 52.4 55.1
Safety and Security Systems | Warning systems        
Disaggregation of Revenue [Line Items]        
Net sales $ 9.9 $ 11.4 $ 29.9 $ 27.6
[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.