| Document and Entity Information | Nov. 20, 2023 |
| Cover [Abstract] | |
| Title of 12(b) Security | Common Stock, par value $1.00 per share |
| Entity Incorporation, State or Country Code | DE |
| Document Type | 8-K |
| Entity Central Index Key | 0000277509 |
| Entity Registrant Name | Federal Signal Corporation |
| Document Period End Date | Nov. 20, 2023 |
| Amendment Flag | false |
| Entity File Number | 001-6003 |
| Entity Tax Identification Number | 36-1063330 |
| Entity Address, Address Line One | 1415 W. 22nd Street |
| Entity Address, City or Town | Oak Brook |
| Entity Address, State or Province | IL |
| Entity Address, Postal Zip Code | 60523 |
| City Area Code | 630 |
| Local Phone Number | 954-2000 |
| Written Communications | false |
| Soliciting Material | false |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
| Trading Symbol | FSS |
| Security Exchange Name | NYSE |
| Entity Emerging Growth Company | false |
