Federal Signal (FSS) 10-K27 Feb 242023 FY Annual reportFinancial data

Company Profile

Document and Entity Information

Document and Entity Information - USD ($)	12 Months Ended
Document and Entity Information - USD ($)	Dec. 31, 2023	Jan. 31, 2024	Jun. 30, 2023
Cover [Abstract]
Document Type	10-K
Document Annual Report	true
Document Period End Date	Dec. 31, 2023
Document Transition Report	false
Entity File Number	1-6003
Entity Registrant Name	FEDERAL SIGNAL CORPORATION
Entity Incorporation, State or Country Code	DE
Entity Tax Identification Number	36-1063330
Entity Address, Address Line One	1415 West 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
Title of 12(b) Security	Common Stock, par value $1.00 per share
Trading Symbol	FSS
Security Exchange Name	NYSE
Entity Well-known Seasoned Issuer	Yes
Entity Voluntary Filers	No
Entity Current Reporting Status	Yes
Entity Interactive Data Current	Yes
Entity Filer Category	Large Accelerated Filer
Entity Small Business	false
Entity Emerging Growth Company	false
ICFR Auditor Attestation Flag	true
Entity Shell Company	false
Entity Public Float			$ 3,810,728,098
Entity Common Stock, Shares Outstanding		60,996,238
Documents Incorporated by Reference	Portions of the registrant’s definitive proxy statement for the 2024 Annual Meeting of Stockholders are incorporated by reference in Part III.
Entity Central Index Key	0000277509
Current Fiscal Year End Date	--12-31
Document Fiscal Year Focus	2023
Document Fiscal Period Focus	FY
Amendment Flag	false
Document Financial Statement Error Correction [Flag]	false

Audit Information

Audit Information	12 Months Ended
Audit Information	Dec. 31, 2023
Audit Information [Abstract]
Auditor Name	Deloitte & Touche LLP
Auditor Firm ID	34
Auditor Location	Chicago, Illinois

Consolidated Statements Of Oper

Consolidated Statements Of Operations - USD ($) shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Statement [Abstract]
Net sales	$ 1,722.7	$ 1,434.8	$ 1,213.2
Cost of sales	1,272.5	1,089.9	924.5
Gross profit	450.2	344.9	288.7
Selling, engineering, general and administrative expenses	210.1	171.7	149.2
Amortization expense	15.2	12.9	10.9
Acquisition and integration-related expenses (benefits), net	0.4	(0.5)	(2.1)
Operating income	224.5	160.8	130.7
Interest expense, net	19.7	10.3	4.5
Pension settlement charges	0	0	10.3
Other expense (income), net	1.8	(0.4)	(1.7)
Income before income taxes	203	150.9	117.6
Income tax expense	45.6	30.5	17
Net income	$ 157.4	$ 120.4	$ 100.6
Basic earnings per share:
Net earnings per share (usd per share)	$ 2.59	$ 1.99	$ 1.65
Diluted earnings per share:
Net earnings per share (usd per share)	$ 2.56	$ 1.97	$ 1.63
Weighted average shares outstanding:
Basic (shares)	60.7	60.5	60.8
Diluted (shares)	61.5	61.2	61.9

Consolidated Statements Of Comp

Consolidated Statements Of Comprehensive Income - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Comprehensive Income [Abstract]
Net income	$ 157.4	$ 120.4	$ 100.6
Other comprehensive income (loss):
Change in foreign currency translation adjustment	5.9	(12.6)	(4.7)
Change in unrecognized net actuarial loss and prior service cost related to pension benefit plans, net of income tax (benefit) expense of $(0.4), $(0.1) and $6.1, respectively	(1.1)	(0.3)	20.5
Change in unrealized gain or loss on interest rate swaps, net of income tax (benefit) expense of $(0.7), $1.1 and $0.6, respectively	(2.1)	3.1	1.7
Total other comprehensive income (loss)	2.7	(9.8)	17.5
Comprehensive income	$ 160.1	$ 110.6	$ 118.1

Consolidated Statements Of Co_2

Consolidated Statements Of Comprehensive Income (Parenthetical) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Comprehensive Income [Abstract]
Tax expense (benefit) on change in unrecognized net actuarial losses and prior service cost related to pension benefit plans	$ (0.4)	$ (0.1)	$ 6.1
Tax (benefit) expense on unrealized net gain on derivatives	$ (0.7)	$ 1.1	$ 0.6

Consolidated Balance Sheets

Consolidated Balance Sheets - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Current assets:
Cash and cash equivalents	$ 61	$ 47.5
Accounts receivable, net of allowances for doubtful accounts of $2.5 and $2.5, respectively	186.2	173.8
Inventories	303.4	292.7
Prepaid expenses and other current assets	19.6	17.4
Total current assets	570.2	531.4
Properties and equipment, net	190.8	179.3
Rental equipment, net	134.8	109.1
Operating lease right-of-use assets	21	24.7
Goodwill	472.7	453.4
Intangible assets, net	207.5	208.2
Deferred tax assets	12	8.8
Deferred charges and other long-term assets	11.5	9.4
Total assets	1,620.5	1,524.3
Current liabilities:
Current portion of long-term borrowings and finance lease obligations	4.7	1.5
Accounts payable	66.7	72.4
Customer deposits	27.1	25.4
Accrued liabilities:
Compensation and withholding taxes	42.3	31.1
Current operating lease liabilities	6.8	6.9
Other current liabilities	48.2	43.2
Total current liabilities	195.8	180.5
Long-term borrowings and finance lease obligations	294.3	361.5
Long-term operating lease liabilities	14.9	18.5
Long-term pension and other post-retirement benefit liabilities	44.2	38.9
Deferred tax liabilities	53.2	51
Other long-term liabilities	16.2	13
Total liabilities	618.6	663.4
Stockholders’ equity:
Common stock, $1 par value per share, 90.0 shares authorized, 70.0 and 69.5 shares issued, respectively	70	69.5
Capital in excess of par value	291.1	271.8
Retained earnings	915.8	782.2
Treasury stock, at cost, 9.0 and 8.8 shares, respectively	(193.7)	(178.6)
Accumulated other comprehensive loss	(81.3)	(84)
Total stockholders’ equity	1,001.9	860.9
Total liabilities and stockholders’ equity	$ 1,620.5	$ 1,524.3

Consolidated Balance Sheets (Pa

Consolidated Balance Sheets (Parenthetical) - USD ($) shares in Millions, $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 2.5	$ 2.5
Common stock, par value (usd per share)	$ 1
Common stock, shares authorized	90
Common stock, shares issued	70	69.5
Treasury Stock, Common, Shares	9	8.8

Consolidated Statements Of Cash

Consolidated Statements Of Cash Flows - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Operating activities:
Net income	$ 157.4	$ 120.4	$ 100.6
Adjustments to reconcile net income to net cash provided by operating activities:
Depreciation and amortization	60.4	54.7	50.4
Deferred financing costs	0.5	0.4	0.3
Stock-based compensation expense	13.1	10.2	7.6
Pension settlement charges	0	0	10.3
Pension-related expense, net of funding	(1.8)	(1.4)	(3.8)
Changes in fair value of contingent consideration	(2.1)	0	(3.5)
Amortization of interest rate swap settlement gain	(2.4)	0	0
Deferred income taxes, including change in valuation allowance	(0.3)	(4.2)	(6.5)
Changes in operating assets and liabilities:
Accounts receivable	(6.1)	(38)	2.5
Inventories	9.8	(61)	(24.2)
Prepaid expenses and other current assets	(1.7)	(0.5)	(2.6)
Rental equipment	(44.8)	(26)	(15.9)
Accounts payable	(8.5)	8.3	6.4
Customer deposits	1.1	1.3	3.9
Accrued liabilities	15.8	1.1	(5.5)
Income taxes	(0.5)	8	(11.6)
Other	4.5	(1.5)	(6.6)
Net cash provided by operating activities	194.4	71.8	101.8
Investing activities:
Purchases of properties and equipment	(30.3)	(53)	(37.4)
Payments for acquisition-related activity, net of cash acquired	(55)	(49.8)	(131.8)
Other, net	1.6	3.1	0.5
Net cash used for investing activities	(83.7)	(99.7)	(168.7)
Financing activities:
(Decrease) increase in revolving lines of credit, net	(64.1)	81.2	70.5
Payments on long-term borrowings	(0.8)	0	0
Payments of debt financing fees	0	(1.9)	0
Purchases of treasury stock	(5.5)	(16.1)	(15.4)
Redemptions of common stock to satisfy withholding taxes related to stock-based compensation	(7)	(6.2)	(10.7)
Payments for acquisition-related activity	(0.5)	0	0
Cash dividends paid to stockholders	(23.8)	(21.8)	(22)
Proceeds from stock compensation activity	3.9	0.2	4.2
Other, net	(0.1)	0.1	(0.2)
Net cash (used for) provided by financing activities	(97.9)	35.5	26.4
Effects of foreign exchange rate changes on cash and cash equivalents	0.7	(0.6)	(0.7)
Increase (decrease) in cash and cash equivalents	13.5	7	(41.2)
Cash and cash equivalents at beginning of year	47.5	40.5	81.7
Cash and cash equivalents at end of year	$ 61	$ 47.5	$ 40.5

Consolidated Statements Of Stoc

Consolidated Statements Of Stockholders' Equity - USD ($) $ in Millions	Total	Common Stock Par Value	Capital in Excess of Par Value	Retained Earnings	Treasury Stock, Common	Accumulated Other Comprehensive Loss
Beginning Balance at Dec. 31, 2020	$ 702.1	$ 67.8	$ 240.8	$ 605	$ (119.8)	$ (91.7)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	100.6			100.6
Total other comprehensive income (loss)	17.5					17.5
Cash dividends declared	(22)			(22)
Stock-based payments:
Stock-based compensation	7		7
Stock option exercises and other	(2)	0.9	9.1		(12)
Performance share unit transactions	(3.8)	0.2	(0.2)		(3.8)
Stock repurchase program	(15.4)				(15.4)
Ending Balance at Dec. 31, 2021	784	68.9	256.7	683.6	(151)	(74.2)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	120.4			120.4
Total other comprehensive income (loss)	(9.8)					(9.8)
Cash dividends declared	(21.8)			(21.8)
Stock-based payments:
Stock-based compensation	9.5		9.5
Stock option exercises and other	(4)	0.5	5.7		(10.2)
Performance share unit transactions	(1.3)	0.1	(0.1)		(1.3)
Stock repurchase program	(16.1)				(16.1)
Ending Balance at Dec. 31, 2022	860.9	69.5	271.8	782.2	(178.6)	(84)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income	157.4			157.4
Total other comprehensive income (loss)	2.7					2.7
Cash dividends declared	(23.8)			(23.8)
Stock-based payments:
Stock-based compensation	12.4		12.4
Stock option exercises and other	1.1	0.4	7		(6.3)
Performance share unit transactions	(3.3)	0.1	(0.1)		(3.3)
Stock repurchase program	(5.5)				(5.5)
Ending Balance at Dec. 31, 2023	$ 1,001.9	$ 70	$ 291.1	$ 915.8	$ (193.7)	$ (81.3)

Consolidated Statements Of St_2

Consolidated Statements Of Stockholders' Equity (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Statement of Stockholders' Equity [Abstract]
Cash dividends declared per common share (usd per share)	$ 0.39	$ 0.36	$ 0.36

Summary of Significant Accounti

Summary of Significant Accounting Policies	12 Months Ended
Summary of Significant Accounting Policies	Dec. 31, 2023
Accounting Policies [Abstract]
Significant Accounting Policies	SUMMARY OF SIGNIFICANT ACCOUNTING POLICIES Organization and Description of the Business Federal Signal Corporation was founded in 1901 and was reincorporated as a Delaware corporation in 1969. References herein to the “Company,” “we,” “our” or “us” refer collectively to Federal Signal Corporation and its subsidiaries. Products manufactured and services rendered by the Company are divided into two reportable segments: Environmental Solutions Group and Safety and Security Systems Group. The individual operating businesses are organized as such because they share certain characteristics, including technology, marketing, distribution and product application, which create long-term synergies. The Company’s fiscal year ends on December 31. All references to 2023, 2022 and 2021 relate to the fiscal year unless otherwise indicated. Basis of Presentation and Consolidation The accompanying consolidated financial statements represent the consolidation of Federal Signal Corporation and its subsidiaries and have been prepared by the Company pursuant to the rules and regulations of the Securities and Exchange Commission (“SEC”) and in accordance with United States (“U.S.”) generally accepted accounting principles (“GAAP”). Intercompany balances and transactions have been eliminated in consolidation. In addition, certain prior year amounts have been reclassified to conform to current year presentation. Recent Accounting Pronouncements In November 2023, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) 2023-07, Segment Reporting (Topic 280): Improvements to Reportable Segment Disclosures , which expands annual and interim disclosure requirements for reportable segments, including enhanced disclosures regarding significant segment expenses. ASU 2023-07 is effective for fiscal years beginning after December 15, 2023, and for interim periods within fiscal years beginning after December 15, 2024, with early adoption permitted. The Company is currently evaluating the impact of adopting this guidance on its financial statement disclosures. In December 2023, the FASB issued ASU 2023-09, Income Taxes (Topics 740): Improvements to Income Tax Disclosures , which expands the disclosure requirements for income taxes, specifically related to the rate reconciliation and income taxes paid. ASU 2023-09 is effective prospectively for annual periods beginning after December 15, 2024, with early adoption and retrospective application permitted. The Company is currently evaluating the impact of adopting this guidance on its financial statement disclosures. Non-U.S. Operations Assets and liabilities of non-U.S. subsidiaries, other than those whose functional currency is the U.S. dollar, are translated at current exchange rates with the related translation adjustments reported in stockholders’ equity as a component of Accumulated other comprehensive loss. Accounts within the Consolidated Statements of Operations are translated at the average exchange rate during the period. Non-monetary assets and liabilities are translated at historical exchange rates. The Company incurs foreign currency transaction gains or losses, related to transactions that are denominated in a currency other than the functional currency, which are recognized in the Consolidated Statements of Operations as a component of Other expense (income), net. For the years ended December 31, 2023 and 2022, the Company realized foreign currency transaction losses of $0.6 million and $0.2 million, respectively. For the year ended December 31, 2021, the Company realized foreign currency transaction gains of $0.3 million. Use of Estimates The preparation of consolidated financial statements in conformity with U.S. GAAP requires management to make estimates and assumptions that affect (i) the reported amounts of assets and liabilities, (ii) the disclosure of contingent assets and liabilities at the date of the consolidated financial statements and (iii) the reported amounts of revenues and expenses during the reporting period. Actual results could differ from those estimates. Cash and Cash Equivalents The Company considers all highly liquid investments with a maturity of three months or less, when purchased, to be cash equivalents. The carrying amount of cash and cash equivalents approximates fair value because of the short-term maturity and highly liquid nature of these instruments. Accounts Receivable The Company carries accounts receivable at the face amount less an allowance for doubtful accounts for estimated losses as a result of a customer’s inability to make required payments. Management evaluates the aging of the accounts receivable balances, the financial condition of its customers, historical trends and the time outstanding of specific balances to estimate the amount of accounts receivables that may not be collected in the future and records the appropriate provision. Inventories The Company’s inventories are valued at the lower of cost and net realizable value. Cost is determined using the first-in, first-out method. Included in the cost of inventories are raw materials, direct wages and associated production costs. Properties and Equipment Properties and equipment are stated at cost, net of accumulated depreciation. Depreciation is recorded using the straight-line method over the estimated useful lives of the assets. Useful lives generally range from eight three over the shorter of the remaining life of the lease or the useful life of the improvement Properties and equipment are reviewed for impairment whenever events or changes in circumstances indicate that the carrying amount may not be recoverable. Rental Equipment The Company enters into lease agreements with customers related to the rental of certain equipment. All of these leasing agreements are classified as operating leases and are for periods generally not to exceed five years. In accounting for these leases, the cost of the equipment purchased or manufactured by the Company is recorded as an asset and is depreciated over its estimated useful life. Rental income is recognized ratably over the term of the underlying leases. Rental equipment is depreciated to an estimated residual value on a straight-line basis over the estimated useful lives of the assets and is reviewed for potential impairment whenever an event occurs or circumstances change that indicate the carrying amount of an asset may not be recoverable. If circumstances require a long-lived asset or asset group to be tested for possible impairment, the Company first compares non-discounted cash flows expected to be generated by that asset group to its carrying amount. If the carrying amount of the long-lived asset or asset group is not recoverable on a non-discounted cash flow basis, an impairment is recognized to the extent that the carrying amount exceeds fair value. Fair value is determined through various valuation techniques including discounted cash flow models, quoted market values and third-party independent appraisals, as considered necessary. Rental equipment includes certain equipment that is manufactured by the Company and subsequently transferred to the rental fleet, as well as equipment purchased from third-party manufacturers, for the purpose of renting to end-customers. The related cash flow activity associated with these transactions is reflected within operating activities on the Consolidated Statements of Cash Flows. Goodwill Goodwill represents the excess of the cost of an acquired business over the amounts assigned to its net assets. Goodwill is not amortized but is tested for impairment at a reporting unit level on an annual basis or more frequently if indicators of impairment exist. The Company performed its annual goodwill impairment test as of October 31, 2023. In testing the goodwill of its reporting units for potential impairment, the Company applies either a qualitative or quantitative test, in accordance with Accounting Standards Codification (“ASC”) 350, Intangibles – Goodwill and Other . A qualitative approach may be applied when the Company concludes that it is not “more likely than not” that the fair value of a reporting unit is less than its carrying value. In this situation, the Company would not be required to perform the quantitative impairment test described below. A quantitative approach is performed by comparing the fair value of a reporting unit with its carrying amount. If the fair value of a reporting unit exceeds its carrying amount, goodwill of the reporting unit is not impaired and no impairment charge is required. If the carrying amount of a reporting unit exceeds its fair value, this difference is recorded as an impairment charge not to exceed the carrying amount of goodwill. The Company generally determines the fair value of its reporting units using both the income and market approaches. Under the income approach, the key assumptions include projected sales, earnings before interest, income taxes, depreciation and amortization (“EBITDA”) and the discount rate. Under the market approach, the Company estimates fair value using marketplace fair value data from within a comparable industry grouping. The results of these two methods are weighted based upon management’s evaluation of the relevance of the two approaches. In 2023, the Company performed a combination of qualitative and quantitative impairment tests to assess the goodwill of its reporting units for potential impairment. For one reporting unit, a quantitative impairment test was performed, using a combination of the income and market approaches to determine the fair value of its reporting unit. The valuation was prepared by a third-party valuation specialist. One measure of the sensitivity of assumptions used in the impairment analysis is the amount by which the reporting unit “passed” (fair value exceeds the carrying value). The fair value of the reporting unit exceeded its carrying value by more than 20% and, therefore, no impairment was recognized. For its other reporting units, the Company applied the qualitative approach and concluded that it was not “more likely than not” that the fair value of the reporting units were less than their carrying values. Accordingly, further quantitative testing was not required to be performed. The Company had no goodwill impairments in 2023, 2022 or 2021. See Note 8 – Goodwill and Other Intangible Assets for a summary of the Company’s goodwill by segment. Intangible Assets Definite-lived intangible assets are amortized on a straight-line basis over the estimated useful lives and are tested for impairment if indicators exist in a manner similar to that described above for Rental Equipment . Indefinite-lived intangible assets are tested for impairment on an annual basis at October 31, or more frequently if an event occurs or circumstances change that indicate the fair value of an indefinite-lived intangible asset could be below its carrying amount. In testing the indefinite-lived intangibles assets for potential impairment, the Company applies either a qualitative test, or a quantitative test, in accordance with ASC 350. A qualitative approach may be applied when the Company concludes that it is not “more likely than not” that the fair value of the indefinite-lived intangible assets are less than their carrying value. A quantitative impairment test consists of comparing the fair value of the indefinite-lived intangible asset with its carrying amount. An impairment loss would be recognized for the carrying amount in excess of its fair value. In 2023, the Company performed a combination of qualitative and quantitative impairment tests over its indefinite-lived intangible assets. The fair value of the indefinite-lived intangible asset that was quantitatively tested for impairment exceeded its carrying value by approximately 40%, and, therefore, no impairment was recognized. Further, the Company concluded that it was not “more likely than not” that the fair value of indefinite-lived intangible assets that were qualitatively tested for impairment were less than the carrying amounts. Accordingly, further quantitative testing was not required to be performed. The Company had no indefinite-lived intangible asset impairments in 2023, 2022 or 2021. See Note 8 – Goodwill and Other Intangible Assets for a summary of the Company’s intangible assets. Warranties Warranties are classified as either assurance-type or service-type warranties. A warranty is considered an assurance-type warranty if it provides the customer with assurance that the product will function as intended. A warranty that goes above and beyond ensuring basic functionality is considered a service-type warranty. The Company offers certain limited warranties that are assurance-type warranties and extended service arrangements that are service-type warranties. Assurance-type warranties are not accounted for as separate performance obligations under the revenue model. If a service-type warranty is sold with a product or separately, revenue is recognized over the life of the warranty. Sales of many of the Company’s products include assurance-type warranties based on terms that are generally accepted in the Company’s marketplaces. The Company records provisions for estimated warranty costs, which are included within Cost of sales, at the time of sale based on historical experience. The Company periodically adjusts these provisions to reflect actual experience. Infrequently, a material warranty issue can arise which is beyond the scope of the Company’s historical experience. The Company records costs related to these issues as they become probable and estimable. The Company also sells optional service-type warranty contracts that extend coverage beyond the initial term of the express warranty period. At the time of sale, revenue related to the service-type warranty contract is deferred and typically recognized as revenue on a straight-line basis over the life of the contract. As of December 31, 2023 and 2022, deferred revenue associated with service-type warranty contracts was $4.3 million and $4.1 million, respectively, and was included within Other current liabilities and Other long-term liabilities on the Consolidated Balance Sheets. Costs under service-type warranty contracts are expensed as incurred. Workers’ Compensation and Product Liability Reserves Due to the nature of the Company’s manufacturing and products, the Company is subject to claims for workers’ compensation and product liability in the normal course of business. The Company is self-funded for a portion of these claims. The Company establishes a reserve using a third-party actuary for any known outstanding matters, including a reserve for claims incurred but not yet reported. The amount and timing of cash payments relating to these claims are considered to be reliably determinable given the nature of the claims and historical claim volumes to support the actuarial assumptions and judgments used to derive the expected loss payment patterns. As such, the reserves recorded are discounted using a risk-free rate that matches the average duration of the claims. The Company has not established a reserve for potential losses resulting from the firefighter hearing loss litigation, with the exception of certain estimated losses that have been recognized related to settlement discussions (see Note 13 – Legal Proceedings). If the Company is not successful in its defense after exhausting all appellate options, it would record a charge for such claims, to the extent they exceed insurance recoveries, when the related losses become probable and estimable. Pensions The Company sponsors domestic and foreign defined benefit pension plans. Key assumptions used in the accounting for these employee benefit plans include the discount rate, expected long-term rate of return on plan assets and estimates of future mortality of plan participants. The weighted-average discount rate used to measure pension liabilities and costs is selected using a hypothetical portfolio of high-quality bonds that would provide the necessary cash flow to match the projected benefit payments of the plans. The discount rate represents the rate at which our benefit obligations could effectively be settled as of the year-end measurement date. The weighted-average discount rate used to measure pension liabilities decreased from 2022 to 2023. See Note 11 – Pension and Other Post-Employment Plans for further discussion. The expected long-term rate of return on plan assets is based on historical and expected returns for the asset classes in which the plans are invested. The Company references published mortality tables and scales in determining its estimate of future mortality. Revenue Recognition See Note 3 – Revenue Recognition for discussion regarding the Company’s revenue recognition accounting policies. Product Shipping Costs Product shipping costs are expensed as incurred and are included within Cost of sales. Research and Development The Company invests in research to support development of new products and the enhancement of existing products and services. Expenditures for research and development by the Company were $12.4 million in 2023, $11.5 million in 2022 and $11.4 million in 2021, and are included within SEG&A expenses in the Consolidated Statements of Operations. Stock-Based Compensation Plans The Company has various stock-based compensation plans, described more fully in Note 15 – Stock-Based Compensation. Stock-based compensation expense is recorded net of estimated forfeitures in the Company’s Consolidated Statements of Operations. The Company estimates the forfeiture rate based on historical forfeitures of equity awards and adjusts the rate to reflect changes in facts and circumstances, if any. The Company revises its estimated forfeiture rate if actual forfeitures differ from its initial estimates. Income Taxes The Company accounts for income taxes under the asset and liability method. Deferred tax assets and liabilities are recognized for the future tax consequences attributable to temporary differences between the financial statement carrying amounts of existing assets and liabilities and their respective tax bases and tax benefit carryforwards. Deferred tax assets and liabilities at the end of each period are determined using enacted tax rates expected to apply to taxable income in the period in which the deferred tax liability or asset is expected to be settled or realized. A valuation allowance is established or maintained when, based on currently available information and other factors, it is more likely than not that all or a portion of a deferred tax asset will not be realized. The Company files a consolidated U.S. federal income tax return for Federal Signal Corporation and its eligible domestic subsidiaries. The Company’s non-U.S. subsidiaries file income tax returns in their respective local jurisdictions. The Company accounts for taxes on Global Intangible Low-Taxed Income (“GILTI”) as a period expense in the year in which it is incurred. Accounting standards on accounting for uncertainty in income taxes address the determination of whether tax benefits claimed or expected to be claimed on a tax return should be recorded in the consolidated financial statements. Under the guidance on accounting for uncertainty in income taxes, the Company may recognize the tax benefit from an uncertain tax position only if it is more likely than not that the tax position will be sustained on examination by taxing authorities, based on the technical merits of the position. The tax benefits recognized in the consolidated financial statements from such a position are measured based on the largest benefit that has a greater than 50% likelihood of being realized upon ultimate settlement. The Company presents interest and penalties related to income tax matters as a component of Income tax expense on the Consolidated Statements of Operations. Litigation Contingencies The Company is subject to various claims, including pending and possible legal actions for product liability and other damages, and other matters arising in the ordinary course of the Company’s business. The Company believes, based on current knowledge and after consultation with counsel, that the outcome of such claims and actions in the aggregate will not have an adverse effect on the Company’s financial position, results of operations or cash flows. However, in the event of unexpected future developments, it is possible that the ultimate resolution of such matters, if unfavorable, could have a material adverse effect on the Company’s results of operations. Professional legal fees are expensed when incurred. The Company accrues for contingent losses when such losses are probable and reasonably estimable. In the event that estimates or assumptions of contingent losses are different from actual results, adjustments are made in subsequent periods to reflect more current information.

Acquisitions

Acquisitions	12 Months Ended
Acquisitions	Dec. 31, 2023
Acquisitions [Abstract]
Acquisitions	ACQUISITIONS The Company’s acquisitions are accounted for in accordance with ASC 805, Business Combinations . The acquisitions completed in the periods presented, as described in further detail within, were accounted for as business combinations in accordance with ASC 805. In accordance with this guidance, the fair value of consideration transferred is allocated to assets acquired and liabilities assumed based on their estimated fair values as of the completion of the acquisition, with the remaining amount recognized as goodwill. A single estimate of fair value results from a complex series of judgments about future events and uncertainties and relies heavily on estimates and assumptions. The Company’s judgments used to determine the estimated fair value assigned to each class of assets acquired and liabilities assumed, as well as asset lives, can materially impact the Company’s results of operations. Under ASC 805-10, acquisition-related costs (e.g., advisory, legal, valuation and other professional fees) are not included as a component of consideration transferred, but are accounted for as expenses in the periods in which the costs are incurred. Acquisition-related costs are included as a component of Acquisition and integration-related expenses (benefits), net on the Consolidated Statements of Operations. Acquisitions Completed in 2023 Acquisition of Trackless On April 3, 2023, the Company completed the acquisition of substantially all the assets and operations of Trackless Vehicles Limited and Trackless Vehicles Asset Corp, and the wholly-owned subsidiary Work Equipment Ltd. (collectively, “Trackless”), a leading Canadian manufacturer of off-road, multi-purpose tractors and attachments. The Company expects that the Trackless acquisition will further bolster its position as an industry leading diversified industrial manufacturer of specialized vehicles for maintenance and infrastructure markets with leading brands of premium, value-adding products, and a strong supporting aftermarket platform. The assets and liabilities of Trackless have been consolidated into the Company’s Consolidated Balance Sheet as of December 31, 2023, and the post-acquisition results of operations have been included in the Consolidated Statements of Operations, within the Environmental Solutions Group. The initial cash consideration paid by the Company to acquire Trackless was C$56.3 million (approximately $41.9 million), inclusive of certain closing adjustments. In addition, there is a contingent earn-out payment of up to C$6.0 million (approximately $4.5 million), based upon the achievement of certain financial targets over a specified performance period. The purchase price was funded through existing cash and borrowings under the Company’s credit agreement. As of December 31, 2023, the Company’s purchase price allocation reflects various provisional estimates that were based on the information that was available as of the acquisition date and the filing date of this Form 10-K. The Company believes that information provides a reasonable basis for estimating the fair values of assets acquired and liabilities assumed; however, the determination of those fair values, including the third-party valuation of acquired intangible assets and contingent consideration, is not yet finalized. Thus, the preliminary measurements of fair value set forth in the table below are subject to change during the measurement period as valuations are finalized. The Company expects to finalize the valuation and complete the purchase price allocation as soon as practicable, but not more than one year from the acquisition date. The following table summarizes the preliminary fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 41.9 Estimated fair value of additional consideration (a) 4.5 Total consideration 46.4 Accounts receivable 4.7 Inventories 15.0 Prepaid expenses and other current assets 0.1 Rental equipment 1.6 Properties and equipment 4.4 Customer relationships (b) 10.5 Trade names (c) 2.8 Other intangible assets 1.3 Accounts payable (1.5) Accrued liabilities (0.5) Net assets acquired 38.4 Goodwill (d) $ 8.0 (a) Represents the preliminary estimated fair value of the contingent earn-out payment as of the acquisition date, which is included in Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) Represents the preliminary fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with a preliminary estimated useful life of approximately 12 years. (c) Represents the preliminary fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (d) Goodwill, which is primarily tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. In the period between the April 3, 2023 closing date and December 31, 2023, Trackless generated $28.1 million of net sales and $5.1 million of operating income, before elimination of intercompany transactions. Acquisition of Blasters On January 3, 2023, the Company completed the acquisition of substantially all the assets and operations of Blasters, Inc. and Blasters Technologies, LLC (collectively, “Blasters”), a leading U.S. manufacturer of truck-mounted waterblasting equipment. The Company expects that the Blasters acquisition will further bolster its position as an industry leading diversified industrial manufacturer of specialized vehicles for maintenance and infrastructure markets with leading brands of premium, value-adding products, and a strong supporting aftermarket platform. The assets and liabilities of Blasters have been consolidated into the Company’s Consolidated Balance Sheet as of December 31, 2023, and the post-acquisition results of operations have been included in the Consolidated Statements of Operations, within the Environmental Solutions Group. The cash consideration paid by the Company to acquire Blasters was $13.0 million. In addition, there is a contingent earn-out payment of up to $8.0 million, based upon the achievement of certain financial targets over a specified performance period. The purchase price was funded through existing cash and borrowings under the Company’s credit agreement. As of December 31, 2023, the Company’s purchase price allocation for the Blasters acquisition is considered to be final. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 13.0 Estimated fair value of additional consideration (a) 0.3 Total consideration 13.3 Accounts receivable 0.7 Inventories 4.6 Prepaid expenses and other current assets 0.1 Properties and equipment 0.9 Operating lease right-of-use assets (b) 1.1 Customer relationships (c) 4.4 Trade names (d) 2.3 Accounts payable (0.9) Accrued liabilities (0.5) Customer deposits (0.5) Operating lease liabilities (b) (1.1) Finance lease obligations (0.1) Net assets acquired 11.0 Goodwill (e) $ 2.3 (a) Represents the estimated fair value of the contingent earn-out payment as of the acquisition date, included in Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) In connection with the acquisition, the Company entered into a lease agreement for the Blasters facility, which is owned by affiliates of the sellers. The related-party lease contains a market-based annual rent of $0.2 million, an initial lease term of five years, and options to renew. (c) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of approximately 10 years. (d) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (e) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. In the period between the January 3, 2023 closing date and December 31, 2023, Blasters generated $20.6 million of net sales and $1.5 million of operating income. The 2023 acquisitions of Trackless and Blasters were not, and would not have been, material to the Company’s net sales or results of operations during any presented, either individually or in the aggregate. Accordingly, the Company’s consolidated results do not differ materially from historical performance as a result of the acquisitions, and therefore, unaudited pro-forma results are not presented. Acquisitions Completed in 2022 Acquisition of TowHaul On October 3, 2022, the Company completed the acquisition of substantially all the assets and operations of TowHaul Corporation (“TowHaul”). TowHaul is a leading manufacturer of off-road towing and hauling equipment. The TowHaul acquisition bolstered the Company’s position as an industry leading diversified industrial manufacturer of specialized vehicles for maintenance and infrastructure markets with leading brands of premium, value-adding products, and a strong supporting aftermarket platform. The cash consideration paid by the Company to acquire TowHaul was $43.3 million, which was funded through existing cash and borrowings under the Company’s revolving credit facility. During the year ended December 31, 2023, the Company recognized measurement period adjustments, which primarily resulted from obtaining a third-party valuation of acquired intangible assets, that resulted in a $7.5 million increase to the carrying value of Goodwill from the $12.9 million previously recorded as of December 31, 2022, with a corresponding reduction in the carrying value of acquired intangible assets. The measurement period adjustments did not have a material impact on the Company’s Consolidated Statements of Operations for the year ended December 31, 2023. As of December 31, 2023, the Company’s purchase price allocation for the TowHaul acquisition is considered to be final. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 43.3 Total consideration 43.3 Accounts receivable 1.5 Inventories 4.7 Properties and equipment 6.1 Customer relationships (a) 6.9 Trade names (b) 5.7 Other intangible assets 1.0 Accounts payable (0.1) Accrued liabilities (0.5) Customer deposits (2.4) Net assets acquired 22.9 Goodwill (c) $ 20.4 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 6 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. The acquisition was not, and would not have been, material to the Company’s net sales or results of operations during any period presented. Accordingly, the Company’s consolidated results from operations do not differ materially from historical performance as a result of the acquisition, and therefore, unaudited pro-forma results are not presented. Acquisitions Completed in 2021 During the year ended December 31, 2021, the Company completed three acquisitions. As each of the acquisitions closed during 2021, the assets and liabilities of each of the acquisitions have been consolidated into the Company’s Consolidated Balance Sheets as of December 31, 2023 and 2022, and the post-acquisition results of operations of each of the acquisitions have been included in the Consolidated Statement of Operations, within the Environmental Solutions Group. Acquisition of Deist On December 30, 2021, the Company completed the acquisition of substantially all of the assets and operations of each of Deist Industries, Inc.; Bucks Fabricating, LLC; Roll-Off Parts, LLC and Switch-N-Go, LLC (collectively, “Deist”). Deist designs, manufactures and sells interchangeable truck body systems for class 3-7 vehicles in the work truck industry and a full line of waste hauling products, including front/rear loading containers and specialty roll-off containers. The Deist acquisition strengthened the Company’s specialty vehicle market position by expanding its geographic footprint and enhancing its portfolio of dump truck body and trailer product offerings. The cash consideration paid by the Company to acquire Deist was $38.1 million, which was funded through existing cash and borrowings under the Company’s credit facility. In addition, there is a contingent earn-out payment of up to $7.5 million, based upon the achievement of certain financial targets over a specified performance period. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 38.1 Estimated fair value of additional consideration (a) 2.0 Total consideration 40.1 Accounts receivable 5.1 Inventories 8.8 Prepaid expenses and other current assets 0.2 Properties and equipment 8.5 Customer relationships (b) 3.1 Trade names (c) 5.2 Other intangible assets 1.1 Accounts payable (1.8) Accrued liabilities (3.2) Customer deposits (0.6) Net assets acquired 26.4 Goodwill (d) $ 13.7 (a) Represents the estimated fair value of the contingent earn-out payment as of the acquisition date, which is included as a component of Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of five years. (c) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (d) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. Acquisition of Ground Force On October 4, 2021, the Company completed the acquisition of substantially all of the assets and operations of Ground Force Manufacturing LLC (“Ground Force”). Ground Force is a leading manufacturer of specialty material handling vehicles that support the extraction of metals. The Ground Force acquisition further bolstered the Company’s position as an industry leading diversified industrial manufacturer of specialized vehicles for maintenance and infrastructure markets with leading brands of premium, value-adding products, and a strong supporting aftermarket platform. The cash consideration paid by the Company to acquire Ground Force was $43.1 million, which was funded through existing cash and borrowings under the Company’s credit facility. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 43.1 Total consideration 43.1 Accounts receivable 3.0 Inventories 4.0 Prepaid expenses and other current assets 0.2 Properties and equipment 1.3 Operating lease right-of-use assets 3.0 Customer relationships (a) 16.8 Trade names (b) 7.8 Operating lease liabilities (3.0) Accounts payable (1.8) Accrued liabilities (0.7) Customer deposits (2.9) Net assets acquired 27.7 Goodwill (c) $ 15.4 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 12 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. Acquisition of OSW On February 17, 2021, the Company completed the acquisition of all of the outstanding equity of OSW Equipment & Repair, LLC, a leading manufacturer of dump truck bodies and custom upfitter of truck equipment and trailers. The acquisition also includes OSW’s wholly-owned subsidiaries, Northend Truck Equipment, LLC and Western Truck Body Mfg. ULC (collectively “OSW”). The OSW acquisition strengthened the Company’s specialty vehicle market position by expanding its geographic footprint and enhancing its portfolio of dump truck body and trailer product offerings. The cash consideration paid by the Company to acquire OSW was $53.2 million, which was funded through existing cash and borrowings under the Company’s credit facility. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 53.2 Total consideration 53.2 Cash 1.3 Accounts receivable 3.5 Inventories 8.3 Prepaid expenses and other current assets 0.7 Properties and equipment 5.8 Operating lease right-of-use assets 12.3 Customer relationships (a) 11.3 Trade names (b) 8.4 Other intangible assets 0.2 Operating lease liabilities (12.3) Accounts payable (3.8) Accrued liabilities (1.9) Customer deposits (0.8) Finance lease obligations (1.7) Net assets acquired 31.3 Goodwill (c) $ 21.9 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 12 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, the majority of which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment. During the year ended December 31, 2022, the Company received a favorable settlement of $1.9 million in a post-closing adjustment dispute associated with the acquisition of OSW. As the settlement was reached subsequent to the finalization of the Company’s purchase price allocation, the related benefit has been included as a component of Acquisition and integration-related expenses (benefits), net for the year ended December 31, 2022 on the Consolidated Statements of Operations. Unaudited Pro Forma Financial Information The following table presents the unaudited pro forma combined net sales of the Company, OSW, Ground Force and Deist for the years ended December 31, 2021 and 2020, assuming the transactions occurred on January 1, 2020. Pro forma combined income from continuing operations and pro forma diluted earnings per share are not presented, as they would not be materially different from the results reported for the years ended December 31, 2021 and 2020. For the Years Ended December 31, (in millions of dollars) 2021 2020 Net sales $ 1,287.7 $ 1,229.1 The unaudited pro forma financial information is presented for informational purposes only and is not intended to represent or be indicative of the consolidated results of operations of the Company that would have been reported had the acquisitions been completed as of the beginning of the periods presented, and should not be taken as being representative of the future consolidated results of operations of the Company.

Revenue Recognition

Revenue Recognition	12 Months Ended
Revenue Recognition	Dec. 31, 2023
Revenue Recognition [Abstract]
Revenue Recognition	REVENUE RECOGNITION Revenue is recognized when performance obligations under the terms of a contract with the customer are satisfied; generally this occurs at a point in time, with the transfer of control of the Company’s products or services to customers. For most of the Company’s product sales, these criteria are met at the time the product is shipped; however, occasionally control passes later or earlier than shipment due to customer contract or letter of credit terms. In circumstances where credit is extended, payment terms generally range from 30 to 120 days and customer deposits may be required. Revenue is measured as the amount of consideration the Company expects to be entitled to in exchange for transferring products or providing services. Expected returns and allowances are estimated and recognized based primarily on an analysis of historical experience, with Net sales presented net of such returns and allowances. Net sales include sales of products and billed freight related to product sales. Freight has not historically comprised a material component of Net sales. The Company has elected to account for such shipping and handling activities as a fulfillment cost and not as a separate performance obligation. Taxes collected from customers and remitted to governmental authorities are recorded on a net basis and are excluded from Net sales. Information relating to the disaggregation of Net sales by geographic region, based on the location of the end-customer, is included in Note 17 – Segment Information. The following table presents the Company’s Net sales disaggregated by major product line: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Environmental Solutions Vehicles and equipment (a) $ 1,120.9 $ 927.9 $ 764.3 Parts 217.0 173.7 150.3 Rental income (b) 55.2 53.1 44.7 Other (c) 44.8 35.9 44.7 Total net sales 1,437.9 1,190.6 1,004.0 Safety and Security Systems Public safety and security equipment 173.2 149.1 126.1 Industrial signaling equipment 71.9 62.1 53.9 Warning systems 39.7 33.0 29.2 Total net sales 284.8 244.2 209.2 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 (a) Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment. (b) Represents revenues from vehicle and equipment lease arrangements with customers, recognized in accordance with Topic 842. (c) Primarily includes revenues from services such as maintenance and repair work and the sale of extended warranty contracts. Contract Balances The Company recognizes contract liabilities when cash payments, such as customer deposits, are received in advance of the Company’s satisfaction of the related performance obligations. Contract liabilities are recognized as Net sales when the related performance obligations are satisfied, which generally occurs within three to six months of the cash receipt. Contract liability balances are not materially impacted by any other factors. The Company’s contract liabilities were $30.9 million and $28.9 million , as of December 31, 2023 and 2022, respectively. Contract assets, such as unbilled receivables, were not material as of any of the periods presented herein. Practical Expedients As the Company’s standard payment terms are less than a year, the Company has elected the practical expedient under ASC 606-10-32-18 to not assess whether a contract has a significant financing component. The Company has also elected the practical expedient under ASC 340-40-25-4 and recognizes the incremental costs of obtaining a contract, such as sales commissions, as expense when incurred as the amortization period of the asset that otherwise would have been recognized is one year or less. Further, as permitted by ASC 606-10-50-14, the Company does not disclose the value of its remaining performance obligations for contracts with an original expected duration of one year or less.

Leases

Leases	12 Months Ended
Leases	Dec. 31, 2023
Leases [Abstract]
Lessee, Operating Leases	LEASES The Company leases certain facilities within the U.S., Europe and Canada from which the Company manufactures vehicles and equipment, and provides sales, service and/or equipment rentals. Some of the Company’s lease agreements contain options to renew. The Company also leases vehicles and various other equipment. The Company’s lease agreements may contain lease and non-lease components, which are accounted for separately. Leases with an initial term of twelve months or less are not recorded on the Consolidated Balance Sheets. In connection with acquisitions completed in recent years, the Company has entered into certain lease agreements for facilities owned by affiliates of the sellers. All lease agreements contain an annual rent that is considered to be market-based. Total rent paid under these arrangements was $2.3 million, $2.8 million and $2.5 million during the years ended December 31, 2023, 2022 and 2021, respectively. The Company’s total lease liabilities under these agreements were $4.2 million and $6.9 million as of December 31, 2023 and 2022, respectively. The Company determines if an arrangement is a lease at inception. Operating lease right-of-use assets represent the Company’s right to use an underlying asset for the lease term and lease liabilities represent the Company’s obligation to make lease payments arising from the lease. Operating lease right-of-use assets and liabilities are recognized at the lease commencement date based on the present value of lease payments over the lease term. As most of the Company’s leases do not provide an implicit rate, the Company uses its incremental collateralized borrowing rate based on the information available at the commencement date in determining the present value of lease payments. Implicit rates are used when readily determinable. The Company’s lease terms may include options to extend or terminate the lease when it is reasonably certain that the Company will exercise that option. Lease expense for operating lease payments is recognized on a straight-line basis over the respective lease term. The following table summarizes the Company’s total lease costs and supplemental cash flow information arising from operating lease transactions: (in millions of dollars) For the Years Ended December 31, 2023 2022 2021 Total operating lease costs (a) $ 12.7 $ 11.7 $ 14.9 Cash paid for amounts included in the measurement of lease liabilities: Operating cash flows from operating leases 8.4 7.7 10.7 (a) Includes short-term leases and variable lease costs. The following table summarizes the components of lease right-of-use assets and liabilities: (in millions of dollars) 2023 2022 Affected Line Item in Consolidated Balance Sheets Assets Operating lease right-of-use assets $ 21.0 $ 24.7 Operating lease right-of-use assets Finance lease right-of-use assets 1.6 1.9 Properties and equipment, net Total lease right-of-use assets $ 22.6 $ 26.6 Liabilities Current: Operating leases $ 6.8 $ 6.9 Current operating lease liabilities Finance leases 0.8 0.7 Current portion of long-term borrowings and finance lease obligations Noncurrent: Operating leases 14.9 18.5 Long-term operating lease liabilities Finance leases 0.8 1.3 Long-term borrowings and finance lease obligations Total lease liabilities $ 23.3 $ 27.4 The weighted-average remaining lease terms and discount rates of the Company’s operating leases were as follows: 2023 2022 Weighted-average remaining lease term of operating leases 4.3 years 4.9 years Weighted-average discount rate of operating leases 3.0 % 2.5 % Maturities of operating lease liabilities as of December 31, 2023 were as follows: (in millions of dollars) 2024 $ 7.3 2025 5.4 2026 4.1 2027 2.3 2028 1.3 Thereafter 2.5 Total lease payments 22.9 Less: Imputed interest 1.2 Present value of operating lease liabilities $ 21.7

Inventories

Inventories	12 Months Ended
Inventories	Dec. 31, 2023
Inventory Disclosure [Abstract]
Inventories	INVENTORIES The following table summarizes the components of Inventories: (in millions of dollars) 2023 2022 Finished goods $ 116.1 $ 97.5 Raw materials 154.6 164.3 Work in process 32.7 30.9 Total inventories (a) $ 303.4 $ 292.7

Properties and Equipment, Net

Properties and Equipment, Net	12 Months Ended
Properties and Equipment, Net	Dec. 31, 2023
Property, Plant and Equipment [Abstract]
Properties And Equipment, Net	PROPERTIES AND EQUIPMENT, NET The following table summarizes the components of Properties and equipment, net (in millions of dollars) 2023 2022 Land $ 16.8 $ 13.4 Buildings and improvements 125.4 117.9 Machinery and equipment 221.9 204.4 Total property and equipment, at cost 364.1 335.7 Less: Accumulated depreciation 173.3 156.4 Properties and equipment, net (a) $ 190.8 $ 179.3 (a) Amounts at December 31, 2023 include properties and equipment acquired in the acquisitions of Trackless and Blasters - see Note 2 - Acquisitions.

Rental Equipment

Rental Equipment	12 Months Ended
Rental Equipment	Dec. 31, 2023
Rental Equipment [Abstract]
Rental Equipment	RENTAL EQUIPMENT, NET The following table summarizes the components of Rental equipment, net: (in millions of dollars) 2023 2022 Rental equipment $ 182.3 $ 154.5 Less: Accumulated depreciation 47.5 45.4 Rental equipment, net $ 134.8 $ 109.1 Rental income associated with the Company’s equipment rental activity, which is included as a component of Net sales on the Consolidated Statements of Operations, totaled $55.2 million in 2023, $53.1 million in 2022 and $44.7 million in 2021.

Goodwill and Other Intangible A

Goodwill and Other Intangible Assets	12 Months Ended
Goodwill and Other Intangible Assets	Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]
Goodwill and Other Intangible Assets	GOODWILL AND OTHER INTANGIBLE ASSETS The following table summarizes the carrying amount of goodwill and changes in the carrying amount of goodwill, by segment: (in millions of dollars) Environmental Safety & Security Total Balance at December 31, 2021 $ 320.2 $ 112.0 $ 432.2 Acquisitions, including measurement period adjustments 24.0 — 24.0 Translation adjustments (0.4) (2.4) (2.8) Balance at December 31, 2022 343.8 109.6 453.4 Acquisitions, including measurement period adjustments 17.8 — 17.8 Translation adjustments 0.3 1.2 1.5 Balance at December 31, 2023 $ 361.9 $ 110.8 $ 472.7 The following table summarizes the gross carrying amount and accumulated amortization of intangible assets for each major class of intangible assets: 2023 2022 (in millions of dollars) Gross Carrying Value Accumulated Amortization Net Carrying Value Gross Carrying Value Accumulated Amortization Net Carrying Value Definite-lived intangible assets: Customer relationships (a) $ 161.6 $ (66.3) $ 95.3 $ 153.7 $ (52.0) $ 101.7 Other (a) 8.1 (4.4) 3.7 5.7 (3.4) 2.3 Total definite-lived intangible assets 169.7 (70.7) 99.0 159.4 (55.4) 104.0 Indefinite-lived intangible assets: Trade names 104.2 — 104.2 99.9 — 99.9 Other 4.3 — 4.3 4.3 — 4.3 Total indefinite-lived intangible assets 108.5 — 108.5 104.2 — 104.2 Total intangible assets $ 278.2 $ (70.7) $ 207.5 $ 263.6 $ (55.4) $ 208.2 (a) Average useful life of customer relationships and other definite-lived intangible assets are estimated to be approximately 11 years and 6 years, respectively. The average useful life across all definite-lived intangible assets is estimated to be approximately 11 years. The Company currently estimates that aggregate amortization expense will be approximately $15.4 million in 2024, $15.4 million in 2025, $15.3 million in 2026, $14.4 million in 2027, $13.7 million in 2028 and $24.8 million thereafter. Actual amounts of amortization may differ from estimated amounts due to additional intangible asset acquisitions, changes in foreign currency rates, measurement period adjustments for recent acquisitions, impairment of intangible assets and other events.

Debt

Debt	12 Months Ended
Debt	Dec. 31, 2023
Debt Disclosure [Abstract]
Debt	DEBT The following table summarizes the components of Long-term borrowings and finance lease obligations (in millions of dollars) 2023 2022 2022 Credit Agreement $ 297.4 $ 361.0 Finance lease obligations 1.6 2.0 Total long-term borrowings and finance lease obligations, including current portion 299.0 363.0 Less: Current maturities 3.9 0.8 Less: Current finance lease obligations 0.8 0.7 Total long-term borrowings and finance lease obligations $ 294.3 $ 361.5 As more fully described within Note 18 – Fair Value Measurements, the Company uses a three-level fair value hierarchy that prioritizes the inputs used to measure fair value. The fair value of long-term debt is based on interest rates that we believe are currently available to us for issuance of debt with similar terms and remaining maturities (Level 2 input). The following table summarizes the carrying amounts and fair values of the Company’s financial instruments: 2023 2022 (in millions of dollars) Notional Fair Notional Fair Long-term borrowings and finance lease obligations (a) $ 299.0 $ 299.0 $ 363.0 $ 363.0 (a) Includes current portions of long-term borrowings and finance lease obligations aggregating to $4.7 million and $1.5 million as of December 31, 2023 and 2022, respectively. On October 21, 2022, the Company entered into the Third Amended and Restated Credit Agreement (the “2022 Credit Agreement”), by and among the Company and certain of its foreign subsidiaries (collectively, the “Borrowers”), Wells Fargo Bank, National Association, as administrative agent, swingline lender and issuing lender, PNC Bank, National Association and Truist Bank as syndication agents, and the other lenders and parties signatory thereto. The 2022 Credit Agreement is a senior secured credit facility which provides the Borrowers access to an aggregate principal amount of $800 million, consisting of (i) a revolving credit facility in an amount up to $675 million (the “Revolver”) and (ii) a term loan facility in an amount up to $125 million. The Revolver provides for borrowings in the form of loans or letters of credit up to the aggregate availability under the facility, with a sub-limit of $100 million for letters of credit. Borrowings can be made in denominations of U.S. Dollars, Canadian Dollars, Euros or British Pounds (with borrowings in non-U.S. currencies subject to a sublimit of $300 million). In addition, the Company may expand its borrowing capacity under the 2022 Credit Agreement by up to the greater of (i) $400 million and (ii) 100% of Consolidated EBITDA for the applicable four-quarter period preceding such expansion notice, subject to the approval of the applicable lenders providing such additional borrowings in the form of increases to their revolving facility commitment, or funding of incremental term loans. Borrowings under the 2022 Credit Agreement may be used for working capital and general corporate purposes, including acquisitions. The 2022 Credit Agreement matures on October 21, 2027. The Company’s material domestic subsidiaries provide guarantees for all obligations of the Borrowers under the 2022 Credit Agreement, which is secured by a first priority security interest in (i) all existing or hereafter acquired domestic property and assets of the Company and material domestic subsidiaries, (ii) the stock or other equity interests in each of the material domestic subsidiaries and (iii) 65% of outstanding voting capital stock of certain first-tier foreign subsidiaries, subject to certain exclusions. Borrowings under the 2022 Credit Agreement bear interest, at the Company’s option, at a base rate or an Adjusted Term Secured Overnight Financing Rate (“SOFR”), Adjusted Eurocurrency Rate or Adjusted Daily Simple SONIA Rate (as each is defined in the 2022 Credit Agreement), plus, in each case, an applicable margin. The applicable margin ranges from zero to 0.75% for base rate borrowings and 1.00% to 1.75% for Adjusted Term SOFR, Adjusted Eurocurrency Rate or Adjusted Daily Simple SONIA Rate borrowings. The Company must also pay a commitment fee to the lenders ranging between 0.10% to 0.25% per annum on the unused portion of the $675 million Revolver along with other standard fees. Applicable margin, issuance fees and other customary expenses are payable on outstanding letters of credit. The Company is subject to certain net leverage ratio and interest coverage ratio financial covenants under the 2022 Credit Agreement that are to be measured at each fiscal quarter-end. The Company was in compliance with all such covenants as of December 31, 2023. The 2022 Credit Agreement also includes certain “covenant holiday” periods, which allow for the temporary increase of the minimum net leverage ratio following the completion of a permitted acquisition, or a series of acquisitions, when the aggregate consideration over a period of twelve months exceeds $75 million. In addition, the 2022 Credit Agreement includes customary negative covenants, subject to certain exceptions, restricting or limiting the Company’s and its subsidiaries’ ability to, among other things: (i) make non-ordinary course dispositions of assets; (ii) make certain fundamental business changes, such as mergers, consolidations or any similar combination; (iii) make restricted payments, including dividends and stock repurchases; (iv) incur indebtedness; (v) make certain loans and investments; (vi) create liens; (vii) transact with affiliates; (viii) enter into certain sale/leaseback transactions; (ix) make negative pledges; and (x) modify subordinated debt documents. Under the 2022 Credit Agreement, restricted payments, including dividends and stock repurchases, shall be permitted if (i) the Company’s leverage ratio is less than or equal to 3.25x; (ii) the Company is in compliance with all other financial covenants; and (iii) there are no existing defaults under the 2022 Credit Agreement. If its leverage ratio is more than 3.25x, the Company is still permitted to fund (1) up to $35 million of dividend payments and stock repurchases annually; and (2) additional incremental other cash payments up to the greater of $65 million or 5% of consolidated total assets for the term of the 2022 Credit Agreement. The 2022 Credit Agreement contains customary events of default. If an event of default occurs and is continuing, the Borrowers may be required immediately to repay all amounts outstanding under the 2022 Credit Agreement and the commitments from the lenders may be terminated. The 2022 Credit Agreement amended and restated the Second Amended and Restated Credit Agreement (as amended, the In connection with entering into the 2022 Credit Agreement during the year ended December 31, 2022, the Company wrote off $0.1 million of unamortized deferred financing fees associated with the 2019 Credit Agreement, and incurred $1.9 million of new debt issuance costs. The new fees have been deferred and are being amortized over the five-year term as a component of Interest expense, net on the Consolidated Statements of Operations. As of December 31, 2023, there was $173.2 million of cash drawn on the Revolver, $124.2 million outstanding under the term loan facility and $9.1 million of undrawn letters of credit under the 2022 Credit Agreement, with $492.7 million of net availability for borrowings. The following table summarizes the gross borrowings and gross payments under the Company’s revolving credit facilities: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Gross borrowings $ 134.3 $ 137.0 $ 214.0 Gross payments 198.4 55.8 143.5 Aggregate maturities of long-term borrowings and finance lease obligations are $4.7 million in 2024, $7.8 million in 2025, $10.2 million in 2026 and $276.3 million in 2027. The weighted average interest rate on long-term borrowings was 5.9% at December 31, 2023. The Company paid interest of $22.8 million in 2023, $9.4 million in 2022 and $3.9 million in 2021. Interest Rate Swap On October 21, 2022, the Company entered into an interest rate swap (the “2022 Swap”) with a notional amount of $75.0 million, as a means of fixing the floating interest rate component on $75.0 million of its variable-rate debt. The 2022 Swap is designated as a cash flow hedge, with an original maturity date of October 31, 2025. On July 11, 2023, the Company entered into an additional interest rate swap (the “2023 Swap”) with a notional amount of $75.0 million, as a means of fixing the floating interest rate component on $75.0 million of its variable-rate debt. The 2023 Swap is designated as a cash flow hedge, with an original maturity date of August 1, 2025. As a result of the application of hedge accounting treatment, all unrealized gains and losses related to the derivative instruments are recorded in Accumulated other comprehensive loss and are reclassified into operations in the same period in which the hedged transaction affects earnings. Hedge effectiveness is assessed quarterly. The Company does not use derivative instruments for trading or speculative purposes. The fair value of the Company’s interest rate swaps is derived from a discounted cash flow analysis based on the terms of the contract and the interest rate curve (Level 2 inputs) and measured on a recurring basis in our Consolidated Balance Sheets. At December 31, 2023 and 2022, the fair value of the Company’s interest rate swaps was a liability of $0.7 million and $0.3 million, respectively, and are included in Other long-term liabilities on the Consolidated Balance Sheets. During the year ended December 31, 2023, an unrealized pre-tax loss of $0.4 million was recorded in Accumulated other comprehensive loss, whereas during the years ended December 31, 2022 and 2021, unrealized pre-tax gains of $4.1 million and $2.3 million, respectively, were recorded in Accumulated other comprehensive loss. No ineffectiveness was recorded in any of the periods presented. In connection with entering into the 2022 Credit Agreement in October 2022, the Company terminated an interest rate swap initially entered into in 2019, receiving proceeds of $4.3 million upon settlement. The settlement gain was recorded in Accumulated other comprehensive loss and is being amortized into earnings ratably through the original maturity date of July 30, 2024 as a component of Interest expense, net on the Consolidated Statements of Operations. During the years ended December 31, 2023 and 2022, the Company recognized non-cash settlement gains of $2.4 million and $0.5 million, respectively, as a component of Interest expense, net on the Consolidated Statements of Operations. At December 31, 2023 and December 31, 2022, unrealized settlement gains of $1.4 million and $3.8 million, respectively, were included in Accumulated other comprehensive loss on the Consolidated Balance Sheets.

Income Taxes

Income Taxes	12 Months Ended
Income Taxes	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Income Taxes	INCOME TAXES The following table summarizes the components of Income tax expense: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Current tax expense: Federal $ 33.7 $ 24.0 $ 14.7 Foreign 3.1 4.1 5.0 State and local 9.1 6.6 4.0 Total current tax expense 45.9 34.7 23.7 Deferred tax (benefit) expense: Federal — (3.5) 0.4 Foreign (0.5) (0.1) 1.5 State and local 0.2 (0.6) (8.6) Total deferred tax benefit (0.3) (4.2) (6.7) Total income tax expense $ 45.6 $ 30.5 $ 17.0 The following table summarizes the differences between the statutory federal income tax rate and the effective income tax rate: For the Years Ended December 31, 2023 2022 2021 Statutory federal income tax rate 21.0 % 21.0 % 21.0 % State income taxes, net of federal tax benefit 3.8 4.0 3.4 Valuation allowance (0.1) (2.3) (2.9) Remeasurement of deferred taxes (0.1) (0.6) (2.8) Foreign-derived intangible income (1.7) (0.9) (0.6) Executive compensation limitation 1.5 0.7 0.9 Foreign tax rate effects 0.7 0.6 1.2 Excess tax benefits from stock compensation activity (1.9) (1.6) (4.8) Other, net (0.7) (0.7) (0.9) Effective income tax rate 22.5 % 20.2 % 14.5 % The following table summarizes Income before income taxes: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 U.S. $ 176.6 $ 132.1 $ 94.8 Non-U.S. 26.4 18.8 22.8 Income before income taxes $ 203.0 $ 150.9 $ 117.6 Summary The Company recognized income tax expense of $45.6 million for the year ended December 31, 2023, compared to $30.5 million for the year ended December 31, 2022. The increase in income tax expense in the current year was primarily due to higher earnings and the non-recurrence of certain discrete tax benefits recognized in the prior year associated with the release of valuation allowances, partially offset by a $1.5 million increase in the amount of excess tax benefits from stock compensation activity compared to the prior year. In the year ended December 31, 2022, the Company recognized a $2.6 million tax benefit from the release of a valuation allowance that had previously been recorded against deferred tax assets associated with foreign tax credits in the U.S., primarily due to tax planning. The Company also recognized a $1.1 million tax benefit during the year ended December 31, 2022 associated with the release of a valuation allowance in the U.K., as the associated deferred tax assets were considered more-likely-than-not to be realized primarily due to increased projections of future taxable income. Including these items, the Company’s effective tax rate for the year ended December 31, 2023 was 22.5%, compared to 20.2% in 2022. The Company recognized income tax expense of $30.5 million for the year ended December 31, 2022, compared to $17.0 million for the year ended December 31, 2021. The increase in income tax expense in 2022 was primarily due to higher earnings, a $3.2 million reduction in the amount of excess tax benefits from stock compensation activity compared to 2021, and fewer discrete tax benefits than in 2021. In the year ended December 31, 2022, the Company recognized a $2.6 million tax benefit from the release of a valuation allowance that had previously been recorded against deferred tax assets associated with foreign tax credits in the U.S., and also recognized a $1.1 million tax benefit associated with the release of a valuation allowance in the U.K. In the year ended December 31, 2021, the Company recognized a $3.4 million tax benefit associated with the release of state valuation allowances and a $3.3 million tax benefit associated with the remeasurement of deferred taxes for changes in state tax apportionment, both of which primarily resulted from a change in tax status and other tax planning activities executed during the year. Including these items, the Company’s effective tax rate for the year ended December 31, 2022 was 20.2%, compared to 14.5% in 2021. The Company paid income taxes of $46.2 million in 2023, $26.9 million in 2022 and $35.5 million in 2021. Deferred Taxes The following table summarizes the Company’s deferred tax assets and liabilities: (in millions of dollars) 2023 2022 Deferred tax assets: Properties and equipment $ 3.5 $ 3.5 Accrued expenses 34.8 28.7 Stock-based compensation 3.3 3.2 Net operating loss and tax credit carryforwards 14.0 18.0 Goodwill and intangibles 4.8 0.9 Pension benefits 15.6 14.8 Gross deferred tax assets 76.0 69.1 Valuation allowance (0.5) (0.7) Total deferred tax assets 75.5 68.4 Deferred tax liabilities: Properties and equipment (40.6) (35.4) Pension benefits (11.9) (10.1) Goodwill and intangibles (62.4) (63.1) Other (1.8) (1.9) Gross deferred tax liabilities (116.7) (110.5) Net deferred tax liabilities $ (41.2) $ (42.1) The deferred tax asset for net operating loss and tax credit carryforwards at December 31, 2023 includes state net operating loss carryforwards of $4.5 million, which will begin to expire in 2024, and foreign net operating loss carryforwards of $9.5 million, which have an indefinite carryforward period. The deferred tax asset for tax loss and tax credit carryforwards at December 31, 2022, included state net operating loss carryforwards of $5.4 million, state income tax credits of $0.3 million, foreign net operating loss carryforwards of $9.7 million, and U.S. foreign tax credits of $2.6 million. The $75.5 million of deferred tax assets at December 31, 2023, for which no valuation allowance is recorded, is anticipated to be realized through future taxable income or the future reversal of existing taxable temporary differences recorded as deferred tax liabilities at December 31, 2023. Should the Company determine that it is not more-likely-than-not to be able to realize its remaining deferred tax assets in the future, an adjustment to the valuation allowance would be recorded in the period such determination is made. Generally, the Company has considered cash and cash equivalents held by subsidiaries outside the U.S. to be indefinitely reinvested in its foreign operations and the Company’s current plans do not demonstrate a need to repatriate such cash to fund U.S. operations. As of December 31, 2023, the Company continues to assert that its undistributed earnings of certain foreign subsidiaries are indefinitely reinvested. It is not practicable to determine the income tax liability that would be payable if such earnings were not permanently reinvested. Valuation Allowances ASC 740 , Income Taxes , requires that the future realization of deferred tax assets depends on the existence of sufficient taxable income in future periods. Possible sources of taxable income include taxable income in carryback periods, the future reversal of existing taxable temporary differences recorded as a deferred tax liability, tax-planning strategies that generate future income or gains in excess of anticipated losses in the carryforward period and projected future taxable income. If, based upon all available evidence, both positive and negative, it is more likely than not such deferred tax assets will not be realized, a valuation allowance is recorded. Significant weight is given to positive and negative evidence that is objectively verifiable. A company’s three-year cumulative loss position is significant negative evidence in considering whether deferred tax assets are realizable and the accounting guidance restricts the amount of reliance the Company can place on projected taxable income to support the recovery of the deferred tax assets. We continually evaluate the need to maintain a valuation allowance for deferred tax assets based on our assessment of whether it is more likely than not that deferred tax benefits will be realized through the generation of future taxable income. Appropriate consideration is given to all available evidence, both positive and negative, in assessing the need for a valuation allowance. As of December 31, 2023, the Company’s valuation allowance was $0.5 million, which represents the estimated amount of state net operating loss carryforwards that are not more-likely-than not to be realized prior to expiration. During the year ended December 31, 2023, the Company’s valuation allowance decreased by $0.2 million, primarily due to increased projections of future taxable income associated with these state net operating loss carryforwards. Unrecognized Tax Benefits The following table summarizes the activity related to the Company’s unrecognized tax benefits: (in millions of dollars) 2023 2022 2021 Balance at January 1 $ 1.2 $ 1.2 $ 1.2 Increases as a result of tax positions taken in the current period 11.8 — 0.1 Decreases from prior period positions (0.5) — — Decreases due to lapse of statute of limitations — — (0.1) Balance at December 31 $ 12.5 $ 1.2 $ 1.2 During the year ended December 31, 2023, the Company filed amended U.S. federal income tax returns for the 2015 through 2018 tax years to claim a worthless stock deduction. As of December 31, 2023, the aggregate refund claim associated with the worthless stock deduction was $13.6 million, including interest of $1.8 million which is not included in the table above. As recovery of the refund claim was not considered more-likely-than-not as of December 31, 2023, the Company recognized an offsetting increase to its liability for unrecognized tax benefits. In accordance with ASC 740, the Company has recorded a receivable for the full amount of the refund claim, including interest, and an offsetting liability for unrecognized tax benefits for the same amount. The receivable and offsetting liability have been presented net on the Consolidated Balance Sheets and, as the refund claim is fully reserved, the recognition of the uncertain tax position had no impact on the Consolidated Statements of Operations during the year ended December 31, 2023. As of December 31, 2023, the amended tax returns were under examination by the applicable tax authorities. Subsequent to December 31, 2023, the tax authorities notified the Company that the amended tax returns had been approved, at which point receipt of the refund claim was considered more-likely-than-not. As a result, the Company expects to record a corresponding reduction in unrecognized tax benefits during the first quarter of 2024, which would impact the Company’s effective tax rate in 2024. The Company’s accounting policy is to recognize interest and penalties related to income tax matters in income tax expense. At both December 31, 2023 and 2022, accruals for interest and penalties amounting to $0.4 million, were included in the Consolidated Balance Sheets but are not included in the table above. At December 31, 2023 and 2022, liabilities for unrecognized tax benefits, including interest and penalties of $1.1 million and $1.6 million, respectively, were included within Other long-term liabilities on the Consolidated Balance Sheets and would impact the Company’s effective rate, if recognized. Other than the anticipated reduction in unrecognized tax benefits associated with the approval of the amended tax returns previously described, the Company does not expect significant changes to its unrecognized tax benefits as a result of potential expiration of statute of limitations or settlements with the tax authorities within the next twelve months. Status of Tax Returns We file U.S., state and foreign income tax returns in jurisdictions with varying statutes of limitations. The 2020 through 2022 tax years generally remain subject to examination by federal tax authorities, whereas the 2019 through 2022 tax years generally remain subject to examination by most state tax authorities. In significant foreign jurisdictions, the tax years from 2019 through 2022 generally remain subject to examination by their respective tax authorities.

Pension and Other Post-Employme

Pension and Other Post-Employment Plans	12 Months Ended
Pension and Other Post-Employment Plans	Dec. 31, 2023
Retirement Benefits [Abstract]
Pensions	PENSION AND OTHER POST-EMPLOYMENT PLANS Defined Benefit Pension Plans The Company and its subsidiaries sponsor two defined benefit pension plans covering certain salaried and hourly employees. These plans have been closed to new participants for a number of years. Benefits under these plans are primarily based on final average compensation and years of service as defined within the provisions of the individual plans. As a result of plan amendments, the latest of which was in 2008, the only new benefits that were being accrued through the end of 2016 were salary increases for a limited group of participants. Those benefits ceased at the end of 2016, at which point all existing plans became fully frozen. On November 5, 2021, the Company purchased a group annuity contract from an insurance company, under which approximately $25 million of the projected benefit obligation of the U.S. benefit plan was transferred to the insurance company. In this transaction, the insurance company assumed responsibility for pension benefits and administration for approximately 800 retirees or their beneficiaries. The transaction was funded on November 15, 2021 with existing assets of the U.S. benefit plan. As a result, the Company recognized a pension settlement charge of $10.3 million in the year ended December 31, 2021. The following table summarizes net periodic pension (benefit) expense for the U.S. and non-U.S. benefit plans: U.S. Benefit Plan Non-U.S. Benefit Plan For the Years Ended December 31, For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 2023 2022 2021 Company-sponsored plans: Service cost $ — $ — $ — $ 0.1 $ 0.1 $ 0.2 Interest cost 6.1 4.4 4.9 1.5 0.9 0.7 Expected return on plan assets (7.5) (6.9) (9.6) (2.1) (2.0) (2.0) Amortization of prior service costs — — — 0.1 0.1 0.2 Amortization of actuarial losses 1.3 2.3 3.9 1.0 0.6 0.8 Settlement charges — — 10.3 — — — Net periodic pension (benefit) expense $ (0.1) $ (0.2) $ 9.5 $ 0.6 $ (0.3) $ (0.1) The items that comprise Net periodic pension (benefit) expense, other than service cost and settlement charges, are included as a component of Other expense (income), net on the Consolidated Statements of Operations. The following table summarizes the weighted-average assumptions used in determining pension costs: U.S. Benefit Plan Non-U.S. Benefit Plan For the Years Ended December 31, For the Years Ended December 31, 2023 2022 2021 2023 2022 2021 Discount rate 5.7 % 3.1 % 2.8 % 4.8 % 1.8 % 1.3 % Expected long-term rate of return on plan assets 7.2 % 6.1 % 7.4 % 6.1 % 4.0 % 3.5 % The following table summarizes the changes in the projected benefit obligation and plan assets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Benefit obligation, beginning of year $ 109.0 $ 142.0 $ 32.4 $ 52.8 Service cost — — 0.1 0.1 Interest cost 6.1 4.4 1.5 0.9 Actuarial loss (gain) 4.5 (29.0) 0.3 (13.4) Benefits and expenses paid (8.1) (8.4) (2.5) (2.6) Foreign currency translation — — 1.7 (5.4) Benefit obligation, end of year $ 111.5 $ 109.0 $ 33.5 $ 32.4 Accumulated benefit obligation, end of year $ 111.5 $ 109.0 $ 33.5 $ 32.4 The following table summarizes the weighted-average assumptions used in determining benefit obligations: U.S. Benefit Plan Non-U.S. Benefit Plan 2023 2022 2023 2022 Discount rate 5.4 % 5.7 % 4.5 % 4.8 % The following summarizes the changes in the fair value of plan assets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Fair value of plan assets, beginning of year $ 87.0 $ 120.2 $ 34.8 $ 56.5 Actual return (loss) on plan assets (a) 8.2 (24.8) 3.5 (14.2) Company contribution 1.4 — 0.9 0.9 Benefits and expenses paid (8.1) (8.4) (2.5) (2.6) Foreign currency translation — — 1.9 (5.8) Fair value of plan assets, end of year $ 88.5 $ 87.0 $ 38.6 $ 34.8 (a) Actual return (loss) on plan assets of the U.S. benefit plan for the years ended December 31, 2023 and 2022, was net of fees, commissions and other expenses paid from plan assets of $1.4 million and $1.5 million, respectively. As more fully described within Note 18 – Fair Value Measurements, the Company uses a three-level fair value hierarchy that prioritizes the inputs used to measure fair value. Following is a description of the valuation methodologies used for assets measured at fair value for the U.S. benefit plan: • Cash and cash equivalents are comprised of cash on deposit and a money market fund, that invests principally in short-term instruments. The money-market fund is valued at the net asset value (“NAV”) of the shares in the fund. • Equity investments represent domestic and foreign securities, including common stock, which are publicly traded on active exchanges and are valued based on quoted market prices. Certain equity securities, which are valued using a model that takes the underlying security’s “ best ” price, divides it by the applicable exchange rate and multiplies the result by a depository receipt factor, are categorized within Level 2 of the fair value hierarchy. • Fixed income investments include corporate bonds, asset-backed securities and treasury bonds. Corporate bonds are valued using pricing models that include bids provided by brokers or dealers, benchmark yields, base spreads and reported trades. Asset-backed securities are valued using models with readily observable data as inputs. Treasury bonds are valued based on quoted market prices in active markets. Following is a description of the valuation methodologies used for assets measured at fair value for the non-U.S. benefit plan: • Cash and cash equivalents are comprised of cash on deposit and a money market fund, that invests principally in short-term instruments. The money-market fund is valued at the NAV of the shares in the fund. • Diversified investment funds and insurance-linked securities are valued based on a daily NAV per share measured by the fund sponsor and used as the basis for current transactions. • Fixed income investments include corporate bonds and asset-backed securities. Corporate bonds are valued based on quoted market prices in active markets or other readily observable market data. Asset-backed securities are valued using models with readily observable data as inputs. The methods described may produce a fair value calculation that may not be indicative of net realizable value or reflective of future fair values. Furthermore, while the Company believes its valuation methods are appropriate and consistent with other market participants, the use of different methodologies or assumptions to determine the fair value of certain financial instruments could result in a different fair value measurement at the reporting date. The following summarizes the Company’s pension assets in a three-tier fair value hierarchy for its benefit plans: U. S. Benefit Plan 2023 2022 (in millions of dollars) Level 1 Level 2 Level 3 Total Level 1 Level 2 Level 3 Total Cash and cash equivalents $ 1.6 $ — $ — $ 1.6 $ 4.1 $ — $ — $ 4.1 Equity investments: U.S. Large Cap 12.0 0.1 — 12.1 10.8 0.1 — 10.9 U.S. Small and Mid Cap 13.4 — — 13.4 13.6 — — 13.6 Developed international 5.2 0.3 — 5.5 4.8 0.7 — 5.5 Emerging markets 2.3 0.7 — 3.0 2.0 0.9 — 2.9 Fixed income investments: Government securities 1.7 — — 1.7 2.9 — — 2.9 Asset-backed securities — 0.2 — 0.2 — 0.2 — 0.2 Corporate bonds — 50.2 — 50.2 — 46.4 — 46.4 Total assets at fair value (a) $ 36.2 $ 51.5 $ — $ 87.7 $ 38.2 $ 48.3 $ — $ 86.5 (a) Total assets at fair value in the table above exclude a net receivable of $0.8 million and $0.5 million at December 31, 2023 and 2022, respectively. Non-U. S. Benefit Plan 2023 2022 (in millions of dollars) Level 1 Level 2 Level 3 Total Level 1 Level 2 Level 3 Total Cash and cash equivalents $ 0.8 $ 7.7 $ — $ 8.5 $ 0.9 $ 6.5 $ — $ 7.4 Diversified investment funds (a) — 18.9 — 18.9 — 15.3 — 15.3 Fixed income investments: Asset-backed securities — 4.4 — 4.4 — 4.0 — 4.0 Corporate bonds — 3.7 — 3.7 — 4.1 — 4.1 Other investments: Insurance-linked securities — — 3.1 3.1 — — 4.0 4.0 Total assets at fair value $ 0.8 $ 34.7 $ 3.1 $ 38.6 $ 0.9 $ 29.9 $ 4.0 $ 34.8 (a) These funds primarily invest in a diversified portfolio of equity securities and fixed income securities. The Company maintains a structured investment strategy for its U.S. and non-U.S. benefit plans, which are designed to achieve certain target asset allocations depending on the plans’ relative funded status. As of December 31, 2023, the target asset allocations for the U.S. benefit plan are (i) between 54% and 69% in fixed income investments, (ii) between 29% and 44% in equity investments and (iii) between 0% and 20% in cash and cash equivalents. As of December 31, 2023, the target asset allocations for the non-U.S. benefit plan assets are generally between 65% and 75% in fixed income investments and cash and cash equivalents, and between 25% and 35% in equity investments. The following summarizes the funded status of the Company’s benefit plans: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Fair value of plan assets, end of year $ 88.5 $ 87.0 $ 38.6 $ 34.8 Benefit obligation, end of year 111.5 109.0 33.5 32.4 Funded status, end of year $ (23.0) $ (22.0) $ 5.1 $ 2.4 The following summarizes the amounts recognized within the Company’s Consolidated Balance Sheets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Amounts recognized in our Consolidated Balance Sheets include: Deferred charges and other long-term assets $ — $ — $ 5.1 $ 2.4 Long-term pension and other post-retirement benefit liabilities (23.0) (22.0) — — Net (liability) asset recorded $ (23.0) $ (22.0) $ 5.1 $ 2.4 Amounts recognized in Accumulated other comprehensive loss include: Actuarial losses $ 60.7 $ 58.1 $ 16.1 $ 17.3 Prior service costs — — 2.0 2.0 Net amount recognized, pre-tax $ 60.7 $ 58.1 $ 18.1 $ 19.3 As the Company’s benefit plans are fully frozen, all plan participants are now considered to be inactive. As a result, the associated actuarial losses and prior service costs that are included in Accumulated other comprehensive loss are being amortized into net periodic benefit cost over the remaining average life expectancy of plan participants. The Company expects $2.9 million of the actuarial losses and $0.1 million of the prior service costs to be amortized from Accumulated other comprehensive loss into net periodic benefit cost in 2024. The Company currently expects to contribute up to $5.0 million to the U.S. benefit plan and up to $0.2 million to the non-U.S. benefit plan in 2024. Future contributions to the plans will be based on such factors as annual service cost, the financial return on plan assets, interest rate movements that affect discount rates applied to plan liabilities and the value of benefit payments made. The following summarizes the benefits expected to be paid under the Company’s benefit plans in each of the next five years, and in aggregate for the five years thereafter: (in millions of dollars) U.S. Benefit Plan Non-U.S. Benefit Plan 2024 $ 8.4 $ 2.5 2025 8.7 2.6 2026 8.7 2.5 2027 8.9 2.5 2028 8.8 2.5 2029-2033 42.9 11.4 Defined Contribution Retirement Plan The Company also sponsors a defined contribution retirement plan (the “401(k) plan”) covering a majority of its employees. Participation is via automatic enrollment and employees may elect to opt out of the 401(k) plan. Company contributions to the 401(k) plan are based on an employee’s years of service, as well as the percentage of employee contributions. The Company’s cost of the 401(k) plan was $11.4 million in 2023, $9.9 million in 2022 and $8.9 million in 2021. Deferred Compensation Plan The Company also provides a deferred compensation plan to certain employees. The deferred compensation plan is a non-qualified, unfunded defined contribution plan, which provides participants with benefits that would have been provided under the 401(k) plan, but could not be provided due to compensation limits for qualified plans under the Internal Revenue Code. At December 31, 2023 and 2022, deferred compensation liabilities of $19.9 million and $15.3 million, respectively, were included on the Consolidated Balance Sheets, primarily within Long-term pension and other post-retirement benefit liabilities.

Commitments and Contingencies

Commitments and Contingencies	12 Months Ended
Commitments and Contingencies	Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]
Commitments and Contingencies	COMMITMENTS AND CONTINGENCIES Financial Commitments The Company provides indemnifications and other guarantees in the ordinary course of business, the terms of which range in duration and often are not explicitly defined. Specifically, the Company is occasionally required to provide letters of credit and bid and performance bonds to various customers, principally to act as security for retention levels related to casualty insurance policies and to guarantee the performance of subsidiaries that engage in export and domestic transactions. At December 31, 2023, the Company had outstanding performance and financial standby letters of credit, as well as outstanding bid and performance bonds, aggregating to $21.2 million. If any such letters of credit or bonds are called, the Company would be obligated to reimburse the issuer of the letter of credit or bond. The Company believes the likelihood of any currently outstanding letter of credit or bond being called is remote. The Company has transactions involving the sale of equipment to certain of its customers which include (i) guarantees to repurchase the equipment for a fixed price at a future date and (ii) guarantees to repurchase the equipment from the third-party lender in the event of default by the customer. As of December 31, 2023, both the single year and maximum potential cash payments the Company could be required to make to repurchase equipment under these agreements amounted to $1.5 million. The Company’s risk under these repurchase arrangements would be partially mitigated by the value of the products repurchased as part of the transaction. Historical cash requirements and losses associated with these obligations have not been significant, but could increase if customer defaults exceed current expectations. The Company has certain lease agreements for facilities owned by affiliates which include provisions requiring the Company to guarantee any remaining lease payments in the event of default. As of December 31, 2023, the total amount of future payments guaranteed under these agreements was approximately $0.9 million. The Company believes the likelihood of defaulting on these leases is remote. Product Warranties The Company issues product performance warranties to customers with the sale of its products. The specific terms and conditions of these warranties vary depending upon the product sold and country in which the Company does business, with warranty periods generally ranging from one The following table summarizes the changes in the Company’s warranty liabilities: (in millions of dollars) 2023 2022 Balance at January 1 $ 9.3 $ 9.7 Provisions to expense 7.9 6.8 Acquisitions 0.1 — Payments (7.7) (7.2) Balance at December 31 $ 9.6 $ 9.3

Legal Proceedings

Legal Proceedings	12 Months Ended
Legal Proceedings	Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]
Commitments and Contingencies Disclosure	LEGAL PROCEEDINGS The Company is subject to various claims, including pending and possible legal actions for product liability and other damages, and other matters arising in the ordinary course of the Company’s business. On a quarterly basis, the Company reviews uninsured material legal claims against the Company and accrues for the costs of such claims as appropriate in the exercise of management’s best judgment and experience. However, due to a lack of factual information available to the Company about a claim, or the procedural stage of a claim, it may not be possible for the Company to reasonably assess either the probability of a favorable or unfavorable outcome of the claim or to reasonably estimate the amount of loss should there be an unfavorable outcome. Therefore, for many claims, the Company cannot reasonably estimate a range of loss. The Company believes, based on current knowledge and after consultation with counsel, that the outcome of such claims and actions will not have a material adverse effect on the Company’s results of operations or financial condition. However, in the event of unexpected future developments, it is possible that the ultimate resolution of such matters, if unfavorable, could have a material adverse effect on the Company’s results of operations, financial condition or cash flow. Hearing Loss Litigation The Company has been sued for monetary damages by firefighters claiming that exposure to the Company’s sirens impaired their hearing and the sirens are therefore defective. Between 1999 and 2013, 40 cases were filed on behalf of a total of 2,816 plaintiffs in the Circuit Court of Cook County, Illinois. The trial of the first 27 of these plaintiffs’ claims occurred in 2008, whereby a Cook County jury returned a unanimous verdict in favor of the Company. In 2009, a trial was held on behalf of nine Chicago firefighter plaintiffs and concluded with a verdict for the plaintiffs in varying amounts totaling $0.4 million. Following appeals, the Company satisfied the judgments, resulting in the final dismissal of the cases. A third consolidated trial involving eight Chicago firefighter plaintiffs occurred in November 2011. The jury returned a unanimous verdict in favor of the Company. Thereafter, the trial court scheduled a fourth consolidated trial involving three firefighter plaintiffs. Prior to trial, the claims of two of the firefighter plaintiffs were dismissed, and on December 17, 2012, the jury entered a complete defense verdict for the Company. On December 20, 2021, the parties executed a settlement agreement to resolve claims of approximately 462 firefighters still involved in the litigation, agreeing to pay a lump sum of $0.2 million based upon an assessment of firefighters who met minimal bilateral hearing loss standards. The estimated settlement amount was accrued by the Company. The settlement agreement did not require the payment of any attorney fees by the Company and provided that plaintiffs’ attorney would withdraw from representing firefighters who did not agree to the settlement. In July 2022, the Company issued the settlement payment for eligible plaintiffs who submitted a release. The claims of all other eligible plaintiffs were dismissed for want of prosecution on August 5, 2022. The Company also filed motions to dismiss cases involving firefighters who worked for fire departments located outside of Illinois based on improper venue. On February 24, 2017, the Circuit Court of Cook County dismissed the cases of 1,770 such firefighter plaintiffs. In 2017, the Company entered into a global settlement agreement (the “2017 Settlement Agreement”) with two attorneys who represented approximately 1,090 of these plaintiffs offering to pay $700 per plaintiff to settle these cases, and 717 plaintiffs accepted this offer as a final settlement. The 2017 Settlement Agreement did not require the payment of any attorney fees by the Company. The attorneys representing these plaintiffs agreed to withdraw from representing plaintiffs who did not respond to the settlement offer. It is the Company’s position that the non-settling plaintiffs who failed to timely refile their cases are barred from doing so by the statute of limitations. The Company was also sued on this issue outside of the Cook County, Illinois venue. Between 2007 and 2009, lawsuits involving 71 plaintiffs were filed in the Court of Common Pleas, Philadelphia County, Pennsylvania. Three of these cases were dismissed pursuant to pretrial motions, one case was voluntarily dismissed, and others were settled for nominal sums. Three trials were held in these cases. In the first trial, a jury returned a verdict for the plaintiff, finding that the Company’s siren was not defectively designed but that the Company negligently constructed the siren. The jury awarded damages in an amount less than $0.1 million. In 2010, a jury returned a defense verdict for the Company as to the claims of nine plaintiffs. In a third trial, the jury returned a defense verdict for the Company as to the claims of nine plaintiffs. Following the defense verdicts in the last two Philadelphia trials, in order to avoid the inconvenience, uncertainty and distraction of the lawsuits, the Company entered into a global settlement agreement (the “2010 Settlement Agreement”) on behalf of 1,125 claimants (the “Claimants”). The 2010 Settlement Agreement provided that the Company pay a total amount of $3.8 million to settle the claims (including the costs, fees and other expenses of the law firm in connection with its representation of the Claimants), subject to certain terms, conditions and procedures set forth in the global settlement agreement. On April 22, 2011, the Company confirmed that the terms and conditions of the 2010 Settlement Agreement had been met and made an adjusted payment of $3.6 million to conclude the settlement. The amount was based upon the Company’s receipt of 1,069 signed releases provided by Claimants. The Company generally denies the allegations made in the lawsuits and denies that its products caused any injuries to the Claimants. From 2007 through 2009, firefighters also brought hearing loss claims against the Company in New Jersey, Missouri, Maryland and Kings County, New York, all of which were dismissed prior to trial. In 2012, 20 new cases were filed in Philadelphia on behalf of 20 Philadelphia firefighters against various defendants in addition to the Company. Five of these cases were dismissed. The first trial involving these cases occurred in December 2014 and involved three firefighter plaintiffs. The jury returned a verdict in favor of the Company. Following the trial, the parties agreed to settle cases involving seven firefighter plaintiffs for nominal amounts. In January 2015, plaintiffs’ attorneys filed two new complaints in Philadelphia on behalf of approximately 70 additional firefighter plaintiffs. One of the complaints, which involved 11 firefighter plaintiffs from the District of Columbia, was removed to federal court in the Eastern District of Pennsylvania. Plaintiffs voluntarily dismissed all claims in that case on May 31, 2016. The Company thereafter moved to recover fees and costs in this case, asserting that plaintiffs’ counsel failed to properly investigate the claims prior to filing suit. The Court granted the motion, awarding $0.1 million to the Company, and the United States Court of Appeals for the Third Circuit affirmed the decision awarding fees and costs to the Company. The Court granted the Company’s motion to dismiss the remaining out-of-state firefighters. In 2015, another nine new cases involving a total of 193 firefighters were filed in Philadelphia. The court dismissed all claims filed by out-of-state firefighters, a decision affirmed by the appellate court. In 2016 and 2017, plaintiffs filed new cases involving a total of 155 Philadelphia firefighters in Philadelphia state court, and the cases were transferred to the mass tort program in Philadelphia for pretrial purposes. In November 2017, a trial involving one Philadelphia firefighter occurred, and the jury returned a verdict in favor of the Company. In 2014, an action was brought in the Court of Common Pleas of Erie County, Pennsylvania on behalf of 61 firefighters against various defendants in addition to the Company. Also in 2014, 20 lawsuits involving a total of 193 Buffalo Fire Department firefighters were filed in the Supreme Court of the State of New York, Erie County. In 2015, the Company was served with a complaint filed in Union County, New Jersey state court, involving 34 New Jersey firefighters. In 2016, nine cases were filed in Suffolk County, Massachusetts state court, naming the Company as a defendant. These cases involved 194 firefighters who lived and worked in the Boston area. In 2017, plaintiffs’ attorneys filed additional hearing loss cases in Florida. Prior to a dismissal of these cases pursuant to the Tolling Agreement discussed below, there was a total of 1084 firefighters involved in these cases. In 2013, cases were filed in Allegheny County, Pennsylvania on behalf of 247 plaintiff firefighters from Pittsburgh and against various defendants including the Company. In 2016, cases were filed against an additional 19 Pittsburgh firefighters. After the Company filed pretrial motions, the Court dismissed claims of 55 Pittsburgh firefighter plaintiffs. Prior to the first scheduled trial, the Court granted the Company’s motion for summary judgment and dismissed all claims asserted by plaintiff firefighters involved in this trial. Following an appeal by the plaintiff firefighters, the appellate court affirmed this dismissal. A jury rendered a verdict in favor of the Company in 2017. In 2017, five cases involving 70 firefighter plaintiffs were filed in Lackawanna County, Pennsylvania. A second trial involving Pittsburgh firefighters began in 2018. At the outset of this trial, plaintiffs’ attorneys, who represent all firefighters who filed cases in Allegheny County, Philadelphia, Buffalo, New Jersey, Massachusetts, and Florida requested that the Company consider settlement of various cases. In March 2018, the parties agreed in principle on a framework (the “Settlement Framework”) to resolve hearing loss claims and cases in all jurisdictions involved in the hearing loss litigation except Cook County, Illinois and Lackawanna County, Pennsylvania and a case involving one firefighter in New York City, cases being handled by different attorneys. The Company later settled the cases in Lackawanna County and settled the case involving one firefighter in New York City for nominal amounts. In order to minimize the parties’ respective legal costs and expenses during this settlement process, on July 5, 2018, the parties entered into a tolling agreement (the “Tolling Agreement”). Pursuant to the Tolling Agreement, counsel for the settling firefighters agreed to dismiss the pending lawsuits in all jurisdictions except for the Allegheny County (Pittsburgh), Pennsylvania cases, and the Company agreed to a tolling of any statute of limitations applicable to the dismissed cases. The Tolling Agreement continued in place until the parties executed a global settlement agreement (the “2019 Settlement Agreement”) on November 4, 2019. After execution of the 2019 Settlement Agreement, the Allegheny County (Pittsburgh) cases were dismissed. Pursuant to the Settlement Framework, the Company would pay $700 to each firefighter who filed a lawsuit and is eligible to be part of the settlement and $300 to each firefighter who has not yet filed a case and is eligible to be part of the settlement. To be eligible for settlement, among other things, firefighters must provide proof that they have high frequency noise-induced hearing loss. There are approximately 2,160 firefighters whose claims may be considered as part of this settlement, including approximately 921 firefighters who have ongoing filed lawsuits. The Settlement Framework was finalized in a global settlement agreement executed on November 4, 2019. The global settlement agreement requires plaintiffs’ attorneys to withdraw from representing firefighters who elect not to participate in the settlement and does not include the payment of any attorney fees by the Company. Pursuant to the 2019 Settlement Agreement, the parties are now in the process of determining how many of the approximately 2,160 firefighters will be eligible to participate in the settlement. As of December 31, 2023, the Company has recognized an estimated liability for the potential settlement amount under the Settlement Framework. While it is reasonably possible that the ultimate resolution of this matter may result in a loss in excess of the amount accrued, the incremental loss is not expected to be material.

Earnings Per Share

Earnings Per Share	12 Months Ended
Earnings Per Share	Dec. 31, 2023
Earnings Per Share [Abstract]
Earnings Per Share	EARNINGS PER SHARE The Company computes earnings per share (“EPS”) in accordance with ASC 260, Earnings per Share , which requires that non-vested restricted stock containing non-forfeitable dividend rights should be treated as participating securities pursuant to the two-class method. Under the two-class method, net income is reduced by the amount of dividends declared in the period for common stock and participating securities. The remaining undistributed earnings are then allocated to common stock and participating securities as if all of the net income for the period had been distributed. The amounts of distributed and undistributed earnings allocated to participating securities for the years ended December 31, 2023, 2022 and 2021 were insignificant and did not materially impact the calculation of basic or diluted EPS. Basic EPS is computed by dividing income or loss available to common stockholders by the weighted average number of shares of common stock outstanding for the year. Diluted EPS is computed using the weighted average number of shares of common stock and non-vested restricted stock awards outstanding for the year, plus the effect of dilutive potential common shares outstanding during the year. The dilutive effect of common stock equivalents is determined using the more dilutive of the two-class method or alternative methods. We use the treasury stock method to determine the potentially dilutive impact of our employee stock options and restricted stock units, and the contingently issuable method for our performance-based restricted stock unit awards. For the years ended December 31, 2023, 2022 and 2021, options to purchase 0.1 million, 0.3 million and 0.2 million shares of the Company’s common stock, respectively, had an anti-dilutive effect on EPS, and accordingly, are excluded from the calculation of diluted EPS. The following table reconciles net income to basic and diluted EPS: For the Years Ended December 31, (in millions, except per share data) 2023 2022 2021 Net income $ 157.4 $ 120.4 $ 100.6 Weighted average shares outstanding — Basic 60.7 60.5 60.8 Dilutive effect of common stock equivalents 0.8 0.7 1.1 Weighted average shares outstanding — Diluted 61.5 61.2 61.9 Earnings per share: Basic $ 2.59 $ 1.99 $ 1.65 Diluted 2.56 1.97 1.63

Stock-Based Compensation

Stock-Based Compensation	12 Months Ended
Stock-Based Compensation	Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]
Stock-Based Compensation	STOCK-BASED COMPENSATION The Company’s stock compensation plan, approved by the Company’s stockholders and administered by the Compensation and Benefits Committee of the Board of Directors of the Company (the “CBC”), provides for the grant of incentive stock options, restricted stock and other stock-based awards or units to key employees and directors. The plan, as amended, authorizes the grant of up to 11.0 million shares or units through April 2030. At December 31, 2023, approximately 4.7 million shares were available for future issuance under the plan. The total compensation expense related to all grants awarded under the plan was $13.1 million, $10.2 million and $7.6 million, for the years ended December 31, 2023, 2022 and 2021, respectively. The related income tax benefits recognized in earnings were $2.0 million, $1.9 million and $1.5 million for the years ended December 31, 2023, 2022 and 2021, respectively. Stock Options Stock options vest ratably (i.e. one-third annually) over the three years from the date of the grant. The cost of stock options, based on their fair value at the date of grant, is charged to expense over the respective vesting periods. Stock options normally become exercisable at a rate of one-third annually and in full on the third anniversary date. Under the plan, all options and rights must be exercised within ten years from date of grant. At the Company’s discretion, vested stock option holders are permitted to elect an alternative settlement method in lieu of purchasing common stock at the option price. The alternative settlement method permits the employee to receive, without payment to the Company, cash, shares of common stock or a combination thereof equal to the excess of market value of common stock over the option purchase price. The Company hashistorically settled all such options in common stock and intends to continue to do so. Stock options do not have voting or dividend rights until such time that the options are exercised and shares have been issued. The weighted average fair value of options granted during 2023, 2022 and 2021 was $17.44, $12.64 and $13.54, respectively. The fair value of each option grant was estimated using the Black-Scholes option pricing model with the following weighted average assumptions: 2023 2022 2021 Expected dividend yield 0.8 % 1.0 % 0.8 % Expected volatility 32.7 % 32.7 % 33.0 % Risk-free interest rate 3.3 % 3.0 % 1.1 % Expected option life in years 5.6 6.9 6.4 Dividend yields are based on historical dividend payments. Expected volatility is based on historical volatility of the Company’s common stock. The risk-free interest rate is based on the U.S. Treasury yield curve in effect at the time of the grant for periods corresponding with the expected life of the options. The expected life of options represents the weighted average period of time that options granted are expected to be outstanding giving consideration to vesting schedules and the Company’s historical exercise patterns. The following summarizes stock option activity: Option Shares Weighted Average Exercise Price (in millions, except per share data) 2023 2022 2021 2023 2022 2021 Outstanding, at beginning of year 1.2 1.4 2.0 $ 27.40 $ 23.58 $ 17.52 Granted 0.1 0.2 0.2 51.81 35.80 42.84 Exercised (0.3) (0.4) (0.8) 23.70 16.09 12.12 Canceled or expired — — — 41.45 33.89 30.76 Outstanding, at end of year 1.0 1.2 1.4 $ 31.65 $ 27.40 $ 23.58 Exercisable, at end of year 0.7 0.8 1.0 $ 26.35 $ 23.60 $ 19.15 At December 31, 2023, options that have vested and are expected to vest totaled 1.0 million shares, with a weighted average exercise price of $31.53, and represent the sum of 0.7 million vested (or exercisable) options and 0.3 million options that are expected to vest. Options that are expected to vest are derived by applying the pre-vesting forfeiture rate assumption against outstanding, unvested options as of December 31, 2023. The following table summarizes information for stock options outstanding as of December 31, 2023 under all plans: Options Outstanding Options Exercisable Range of Exercise Prices Shares Weighted Average Weighted Average Shares Weighted Average (in millions) (in years) (in millions) $10.01 — 15.00 0.1 2.2 $ 12.77 0.1 $ 12.77 15.01 — 20.00 0.1 2.8 16.85 0.1 16.85 20.01 — 25.00 0.1 4.1 23.14 0.1 23.14 25.01 — 30.00 0.3 5.6 27.58 0.3 27.58 35.01 — 40.00 0.2 8.1 35.80 — 35.80 40.01 — 45.00 0.1 7.1 42.86 0.1 42.86 50.01 — 55.00 0.1 9.3 51.81 — — 1.0 6.0 $ 31.65 0.7 $ 26.35 The aggregate intrinsic value of stock options outstanding and exercisable at December 31, 2023 was $47.4 million and $37.3 million, respectively. The total intrinsic value of stock options exercised was $9.9 million, $9.7 million and $22.7 million for the years ended December 31, 2023, 2022 and 2021, respectively. The related tax benefits were $2.4 million, $2.5 million and $5.7 million for the years ended December 31, 2023, 2022 and 2021, respectively. Cash received from the exercise of stock options was $3.9 million, $0.2 million and $4.2 million for the years ended December 31, 2023, 2022 and 2021, respectively. The total compensation expense related to all stock option compensation plans was $2.2 million, $2.1 million and $2.0 million for the years ended December 31, 2023, 2022 and 2021, respectively. As of December 31, 2023, there was $3.1 million of total unrecognized compensation cost related to stock options that is expected to be recognized over the weighted-average period of approximately 1.9 years. Restricted Stock Restricted stock awards and restricted stock units primarily cliff vest at the third anniversary from the date of grant, provided the recipient is still employed by the Company on the vesting date. The cost of restricted stock, based on the fair market value of the underlying shares determined using the closing market price on the date of grant, is charged to expense over the respective vesting periods. Shares associated with non-vested restricted stock awards have the same voting rights as the Company’s common stock and have non-forfeitable rights to dividends. Shares associated with non-vested restricted stock units do not have voting or dividend rights. The following table summarizes restricted stock activity for the year ended December 31, 2023: Number of Weighted Average (in millions) Outstanding and non-vested, at December 31, 2022 0.3 $ 34.93 Granted — 52.76 Vested (0.1) 30.44 Forfeited — 39.23 Outstanding and non-vested, at December 31, 2023 0.2 $ 43.03 The total grant-date fair value of restricted stock that vested in the years ended December 31, 2023, 2022 and 2021 was $3.5 million, $2.1 million and $1.9 million, respectively. The total compensation expense related to all restricted stock compensation plans was $4.3 million, $3.8 million and $2.6 million for the years ended December 31, 2023, 2022 and 2021, respectively. As of December 31, 2023, there was $3.6 million of total unrecognized compensation cost related to restricted stock that is expected to be recognized over the weighted-average period of approximately 1.8 years. Performance Awards In each of the three years in the period ended December 31, 2023, the Company granted performance-based restricted stock unit awards (“PSUs”) to certain executives and other non-executive officers. Performance targets associated with PSUs are set annually and approved by the CBC. At the Company’s discretion, actual payment of the awards earned shall be in cash or in common stock of the Company, or in a combination of both. The Company intends to settle all such awards by issuing shares of its common stock. Shares associated with non-vested PSUs do not have voting or dividend rights until issuance. The Company assesses the probability of vesting, based on expected achievement against these performance targets, on a quarterly basis. The PSUs granted in 2023 have a three-year performance period ending December 31, 2025, in which the Company must achieve a certain cumulative EPS and a certain average return on invested capital (“ROIC”), which are performance conditions per ASC 718, Compensation — Stock Compensation (“ASC 718”). The percentage of shares earned under these two performance conditions may be subject to a further 20% modifier, for a maximum potential payout of 240% of target, determined by comparing the Company’s total stockholder return (“TSR”) over a multi-year performance period, relative to that of the S&P 600 Capital Goods Index. The TSR modifier, which is a market condition under ASC 718, will only apply if the Company’s TSR performance over the performance period is in the top or bottom quartile of the S&P 600 Capital Goods Index. If earned, these shares would vest on December 31, 2025. The PSUs granted in 2022 have a three-year performance period ending December 31, 2024, in which the Company must achieve a certain cumulative EPS and a certain average ROIC, which are performance conditions per ASC 718. The percentage of shares earned under these two performance conditions may be subject to a further 20% modifier, for a maximum potential payout of 240% of target, determined by comparing the Company’s TSR over a multi-year performance period, relative to that of the S&P 600 Capital Goods Index. The TSR modifier, which is a market condition under ASC 718, will only apply if the Company’s TSR performance over the performance period is in the top or bottom quartile of the S&P 600 Capital Goods Index. If earned, these shares would vest on December 31, 2024. The PSUs granted in 2021 had a three-year performance period ending December 31, 2023, in which a certain cumulative EPS and a certain average ROIC was targeted. The number of shares of common stock that the Company may issue in connection with the PSUs granted in 2021 can range from 0% to 200% of target. The PSUs granted in 2021 became fully vested on December 31, 2023. Based on the achievement against targets over the three-year performance period, 132% of the target shares were earned. The underlying shares will be issued to participants in the first quarter of 2024. The cost of PSUs, based on their fair value, is charged to expense over the respective vesting periods, which is the three-year period ended December 31, 2023 for the 2021 grants, the three-year period ended December 31, 2024 for the 2022 grants and the three-year period ended December 31, 2025 for the 2023 grants. The fair value of the PSUs granted in 2021 was determined using the closing market price on the date of grant. As the PSUs granted in 2023 and 2022 contain a market condition, the Company utilized a Monte Carlo simulation model to determine the respective grant date fair values, using the following assumptions: PSUs granted in 2023 Annual Expected Stock Price Volatility Annual Expected Dividend Yield Risk-Free Interest Rate Correlation Between TSR for Federal Signal Corporation and the Applicable S&P Index Federal Signal Corporation 29.8 % 0.8 % 3.6 % 48.0 % Peer Group within S&P 600 Capital Goods Index 44.4 % n/a 3.6 % n/a PSUs granted in 2022 Annual Expected Stock Price Volatility Annual Expected Dividend Yield Risk-Free Interest Rate Correlation Between TSR for Federal Signal Corporation and the Applicable S&P Index Federal Signal Corporation 34.4 % 1.0 % 2.8 % 52.3 % Peer Group within S&P 600 Capital Goods Index 50.5 % n/a 2.8 % n/a The total grant-date fair value of PSUs that vested in the years ended December 31, 2023, 2022 and 2021 was $4.6 million, $4.0 million and $2.6 million, respectively. Compensation expense included in the Consolidated Statements of Operations for the PSUs in the years ended December 31, 2023, 2022 and 2021 was $6.6 million, $4.3 million and $3.0 million, respectively. As of December 31, 2023, there was $5.6 million of total unrecognized compensation cost related to PSUs that is expected to be recognized over the weighted-average period of approximately 1.6 years. The following table summarizes PSU activity for the year ended December 31, 2023: Number of PSUs Weighted Average Price per Share (in millions) Outstanding and non-vested, at December 31, 2022 0.2 $ 39.83 Granted (a) 0.1 51.31 Vested (0.1) 42.85 Forfeited — 42.19 Outstanding and non-vested, at December 31, 2023 0.2 $ 44.23

Stockholders' Equity

Stockholders' Equity	12 Months Ended
Stockholders' Equity	Dec. 31, 2023
Equity [Abstract]
Stockholders' Equity	STOCKHOLDERS’ EQUITY The Company’s Board of Directors (the “Board”) has the authority to issue 90.0 million shares of common stock at a par value of $1 per share. The holders of common stock (i) may receive dividends subject to all of the rights of the holders of preference stock, (ii) shall be entitled to share ratably upon any liquidation of the Company in the assets of the Company, if any, remaining after payment in full to the holders of preference stock and (iii) receive one vote for each common share held and shall vote together share for share with the holders of voting shares of preference stock as one class for the election of directors and for all other purposes. The Company had 70.0 million and 69.5 million common shares issued as of December 31, 2023 and 2022, respectively. Of those amounts, 61.0 million and 60.7 million common shares were outstanding as of December 31, 2023 and 2022, respectively. The Board is also authorized to provide for the issuance of 0.8 million shares of preference stock at a par value of $1 per share. The authority of the Board includes, but is not limited to, the determination of the dividend rate, voting rights, conversion and redemption features and liquidation preferences. The Company has not designated or issued any preference stock as of December 31, 2023. Dividends The Company declared and paid dividends totaling $23.8 million, $21.8 million and $22.0 million during 2023, 2022 and 2021, respectively. On February 20, 2024, the Board declared a quarterly cash dividend of $0.12 per common share payable on March 28, 2024 to stockholders of record at the close of business on March 15, 2024. Stock Repurchase Program In March 2020, the Board authorized a stock repurchase program of up to $75.0 million of the Company’s common stock, with the remaining authorization under our previously described repurchase program adopted in November 2014 being subject to the March 2020 program. The stock repurchase program is intended primarily to facilitate opportunistic purchases of Company stock as a means to provide cash returns to stockholders, enhance stockholder returns and manage the Company’s capital structure. Under its stock repurchase program, the Company is authorized to repurchase, from time to time, shares of its outstanding common stock in the open market or through privately negotiated transactions. Stock repurchases by the Company are subject to market conditions and other factors and may be commenced, suspended or discontinued at any time. During the year ended December 31, 2023, the Company repurchased 93,551 shares for a total of $5.5 million under the stock repurchase program. During the year ended December 31, 2022, the Company repurchased 472,381 shares for a total of $16.1 million under the stock repurchase program. During the year ended December 31, 2021, the Company repurchased 361,804 shares for a total of $15.4 million under the stock repurchase program. Accumulated Other Comprehensive Loss The following tables summarize the changes in each component of Accumulated other comprehensive loss, net of tax: (in millions of dollars) (a) Actuarial Losses Prior Service Costs Foreign Interest Rate Swaps Total Balance at January 1, 2023 $ (68.6) $ (2.0) $ (16.0) $ 2.6 $ (84.0) Other comprehensive (loss) income before reclassifications (2.8) (0.1) 5.9 0.3 3.3 Amounts reclassified from accumulated other comprehensive loss 1.7 0.1 — (2.4) (0.6) Net current-period other comprehensive (loss) income (1.1) — 5.9 (2.1) 2.7 Balance at December 31, 2023 $ (69.7) $ (2.0) $ (10.1) $ 0.5 $ (81.3) (a) Amounts in parentheses indicate losses. (in millions of dollars) (a) Actuarial Losses Prior Service Costs Foreign Interest Rate Swaps Total Balance at January 1, 2022 $ (67.9) $ (2.4) $ (3.4) $ (0.5) $ (74.2) Other comprehensive (loss) income before reclassifications (2.9) 0.3 (12.6) 2.9 (12.3) Amounts reclassified from accumulated other comprehensive loss 2.2 0.1 — 0.2 2.5 Net current-period other comprehensive (loss) income (0.7) 0.4 (12.6) 3.1 (9.8) Balance at December 31, 2022 $ (68.6) $ (2.0) $ (16.0) $ 2.6 $ (84.0) (a) Amounts in parentheses indicate losses. The following table summarizes the amounts reclassified from Accumulated other comprehensive loss, net of tax, and the affected line item in the Consolidated Statements of Operations: Details about Accumulated Other Comprehensive Loss Components Amount Reclassified from Accumulated Other Comprehensive Loss Affected Line Item in Consolidated Statements of Operations For the Years Ended December 31, 2023 2022 (in millions of dollars) (a) Amortization of actuarial losses of defined benefit pension plans $ (2.3) $ (2.9) Other expense (income), net Amortization of prior service costs of defined benefit pension plans (0.1) (0.1) Other expense (income), net Interest rate swaps 3.2 (0.2) Interest expense, net Total before tax 0.8 (3.2) Income tax (expense) benefit (0.2) 0.7 Income tax expense Total reclassifications for the period, net of tax $ 0.6 $ (2.5) (a) Amount in parentheses indicate expenses on the Consolidated Statements of Operations.

Segment Information

Segment Information	12 Months Ended
Segment Information	Dec. 31, 2023
Segment Reporting [Abstract]
Segment Information	SEGMENT INFORMATION The Company has two reportable segments. Business units are organized under each reportable segment because they share certain characteristics, such as technology, marketing, distribution and product application, which create long-term synergies. The principal activities of the Company’s reportable segments are as follows: Environmental Solutions — Our Environmental Solutions Group is a leading manufacturer and supplier of a full range of street sweepers, sewer cleaners, industrial vacuum loaders, safe-digging trucks, high-performance waterblasting equipment, road-marking and line-removal equipment, dump truck bodies, trailers, metal extraction support equipment and multi-purpose tractors. The Group manufactures vehicles and equipment in the U.S. and Canada that are sold under the Elgin ® , Vactor ® , Guzzler ® , TRUVAC ® , Westech TM , Jetstream ® , Blasters, Mark Rite Lines, Trackless, Ox Bodies ® , Crysteel ® , J-Craft ® , Duraclass ® , Rugby ® , Travis ® , OSW, NTE, WTB, Ground Force, TowHaul ® , Bucks ® and Switch-N-Go ® brand names. Product offerings also include certain products manufactured by other companies, such as refuse and recycling collection vehicles. Products are sold to both municipal and industrial customers either through a dealer network or direct sales to service customers generally depending on the type and geographic location of the customer. In addition to vehicle and equipment sales, the Group also engages in the sale of parts, service and repair, equipment rentals and training as part of a comprehensive aftermarket offering to its current and potential customers through its service centers located across North America. Our Environmental Solutions Group includes the aggregated results of two operating segments, including TBEI. In addition, as discussed in Note 2 – Acquisitions, the Company completed the acquisitions of substantially all of the assets and operations of Trackless and Blasters during the year ended December 31, 2023. The assets and liabilities of Trackless and Blasters have been consolidated into the Consolidated Balance Sheet as of December 31, 2023, while the post-acquisition results of operations of Trackless and Blasters have been included in the Consolidated Statements of Operations subsequent to their respective closing dates, within the Environmental Solutions Group. Safety and Security Systems — Our Safety and Security Systems Group is a leading manufacturer and supplier of comprehensive systems and products that law enforcement, fire rescue, emergency medical services, campuses, military facilities and industrial sites use to protect people and property. Offerings include systems for community alerting, emergency vehicles, first responder interoperable communications and industrial communications. Specific products include public safety equipment, such as vehicle lightbars and sirens, industrial signaling equipment, public warning systems and general alarm/public address systems. Products are sold under the Federal Signal TM , Federal Signal VAMA ® , and Victor ® brand names. The Group operates manufacturing facilities in the U.S., Spain, the U.K., and South Africa. Corporate contains those items that are not included in our reportable segments. Net sales by reportable segment reflect sales of products and services to external customers, as reported in the Company’s Consolidated Statements of Operations. Intersegment sales are insignificant. The Company evaluates performance based on operating income of the respective segment. Operating income includes all revenues, costs and expenses directly related to the segment involved. In determining reportable segment income, neither corporate nor interest expenses are included. Reportable segment depreciation and amortization expense, identifiable assets and capital expenditures relate to those assets that are utilized by the respective reportable segment. Corporate assets consist principally of cash and cash equivalents, deferred tax assets and fixed assets. The accounting policies of each reportable segment are the same as those described in Note 1 – Summary of Significant Accounting Policies. Revenues attributed to customers located outside of the U.S. aggregated to $385.3 million in 2023, $285.0 million in 2022 and $286.4 million in 2021, of which sales exported from the U.S. aggregated to $136.0 million, $88.8 million and $77.0 million, respectively. The following table summarizes the Company’s continuing operations by segment, including net sales, operating income, depreciation and amortization, total assets and capital expenditures: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Net sales: Environmental Solutions $ 1,437.9 $ 1,190.6 $ 1,004.0 Safety and Security Systems 284.8 244.2 209.2 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 Operating income: Environmental Solutions $ 209.2 $ 144.5 $ 120.5 Safety and Security Systems 54.8 40.8 32.7 Corporate and eliminations (39.5) (24.5) (22.5) Total operating income 224.5 160.8 130.7 Interest expense 19.7 10.3 4.5 Pension settlement charges — — 10.3 Other expense (income), net 1.8 (0.4) (1.7) Income before income taxes $ 203.0 $ 150.9 $ 117.6 Depreciation and amortization: Environmental Solutions $ 56.0 $ 50.3 $ 46.7 Safety and Security Systems 4.2 4.2 3.6 Corporate 0.2 0.2 0.1 Total depreciation and amortization $ 60.4 $ 54.7 $ 50.4 Total assets: Environmental Solutions $ 1,290.9 $ 1,206.4 $ 1,098.2 Safety and Security Systems 288.1 279.3 226.9 Corporate and eliminations 41.5 38.6 41.0 Total assets $ 1,620.5 $ 1,524.3 $ 1,366.1 Capital expenditures: Environmental Solutions $ 23.0 $ 19.4 $ 34.3 Safety and Security Systems 5.2 32.4 2.8 Corporate 2.1 1.2 0.3 Total capital expenditures $ 30.3 $ 53.0 $ 37.4 The following table summarizes net sales by geographic region based on the location of the end-customer: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Net sales: U.S. $ 1,337.4 $ 1,149.8 $ 926.8 Canada 237.8 175.3 192.4 Europe/Other 147.5 109.7 94.0 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 The following table summarizes long-lived assets by geographic region based on the location of the Company’s subsidiaries: (in millions of dollars) 2023 2022 2021 Long-lived assets: U.S. $ 261.6 $ 249.4 $ 219.9 Canada 80.7 59.1 56.3 Europe/Other 4.3 4.6 3.9 Total long-lived assets $ 346.6 $ 313.1 $ 280.1

Fair Value Measurements

Fair Value Measurements	12 Months Ended
Fair Value Measurements	Dec. 31, 2023
Fair Value Disclosures [Abstract]
Fair Value Measurements	FAIR VALUE MEASUREMENTS The Company uses a three-level fair value hierarchy that prioritizes the inputs used to measure fair value. This hierarchy maximizes the use of observable inputs and minimizes the use of unobservable inputs. Observable inputs are developed based on market data obtained from independent sources, while unobservable inputs reflect the Company’s assumptions about valuation based on the best information available in the circumstances. The three levels of inputs are classified as follows: • Level 1 — quoted prices in active markets for identical assets or liabilities; • Level 2 — observable inputs, other than quoted prices included in Level 1, such as quoted prices for markets that are not active, or other inputs that are observable or can be corroborated by observable market data; and • Level 3 — unobservable inputs that are supported by little or no market activity and that are significant to the fair value of the assets or liabilities, including certain pricing models, discounted cash flow methodologies and similar techniques that use significant unobservable inputs. In determining fair value, the Company uses various valuation approaches within the fair value measurement framework. The valuation methodologies used for the Company’s assets and liabilities measured at fair value and their classification in the valuation hierarchy are summarized below: Cash Equivalents Cash equivalents primarily consist of time-based deposits and interest-bearing instruments with maturities of three months or less. The Company classified cash equivalents as Level 1 due to the short-term nature of these instruments and measured the fair value based on quoted prices in active markets for identical assets. Interest Rate Swaps As described in Note 9 – Debt, the Company may, from time to time, execute interest rate swaps as a means of fixing the floating interest rate component on a portion of its floating-rate debt. The Company classifies its interest rate swaps as Level 2 due to the use of a discounted cash flow model based on the terms of the contract and the interest rate curve (Level 2 inputs) to calculate the fair value of the swaps. Contingent Consideration As of December 31, 2023, the Company had contingent obligations to transfer up to $7.5 million, $8.0 million, and C$6.0 million (approximately $4.5 million), to the former owners of Deist, Blasters, and Trackless, respectively, if specified financial results are met over future reporting periods (i.e., an earn-out). The Deist, Blasters, and Trackless acquisitions were completed on December 30, 2021, January 3, 2023, and April 3, 2023, respectively. The Deist and Trackless contingent earn-out payments, if earned, would be due to be paid following the third anniversary of the closing date. The Blasters contingent earn-out payments, if earned, would be due to be paid annually, in each of the three years following the anniversary of the closing date. During the year ended December 31, 2023, the Company paid $0.5 million to settle the contingent consideration obligation due to the former owners of Mark Rite Lines Equipment Company, Inc. (“MRL”), which was acquired on July 1, 2019. Liabilities for contingent consideration are measured at fair value each reporting period, with the acquisition-date fair value included as part of the consideration transferred. Subsequent changes in fair value are included as a component of Acquisition and integration-related expenses (benefits), net on the Consolidated Statements of Operations. The Company uses an income approach to value the contingent consideration obligation based on the present value of risk-adjusted future cash flows under either a scenario-based or option-pricing method, as appropriate. Due to the lack of relevant observable market data over fair value inputs, such as prospective financial information or probabilities of future events as of December 31, 2023, the Company has classified the contingent consideration liability within Level 3 of the fair value hierarchy outlined in ASC 820, Fair Value Measurements . As further described in Note 2 – Acquisitions, the Company has recognized a preliminary estimate of the fair value of the Trackless contingent consideration liability as of the applicable acquisition date. This preliminary estimate is subject to change during the measurement period as the applicable third-party valuation is finalized. The following tables summarize the Company’s assets and liabilities that are measured at fair value on a recurring basis as of December 31, 2023 and 2022: Fair Value Measurement at December 31, 2023 Using (in millions of dollars) Level 1 Level 2 Level 3 Total Assets: Cash equivalents $ 20.5 $ — $ — $ 20.5 Liabilities: Contingent consideration — — 4.9 4.9 Interest rate swaps — 0.7 — 0.7 Fair Value Measurement at December 31, 2022 Using (in millions of dollars) Level 1 Level 2 Level 3 Total Assets: Cash equivalents $ 0.2 $ — $ — $ 0.2 Liabilities: Contingent consideration — — 2.7 2.7 Interest rate swaps — 0.3 — 0.3 The following table provides a roll-forward of the fair value of recurring Level 3 fair value measurements for the years ended December 31, 2023 and 2022: (in millions of dollars) 2023 2022 Contingent consideration liability, at January 1 $ 2.7 $ 2.7 Issuance of contingent consideration in connection with acquisitions 4.8 — Settlements of contingent consideration liabilities (0.5) — Total gains included in earnings (a) (2.1) — Contingent consideration liability, at December 31 $ 4.9 $ 2.7

Summary of Significant Accoun_2

Summary of Significant Accounting Policies (Policies)	12 Months Ended
Summary of Significant Accounting Policies (Policies)	Dec. 31, 2023
Accounting Policies [Abstract]
Business Description and Basis of Presentation	Organization and Description of the Business Federal Signal Corporation was founded in 1901 and was reincorporated as a Delaware corporation in 1969. References herein to the “Company,” “we,” “our” or “us” refer collectively to Federal Signal Corporation and its subsidiaries.
Fiscal period	The Company’s fiscal year ends on December 31. All references to 2023, 2022 and 2021 relate to the fiscal year unless otherwise indicated.
Basis of Presentation and Consolidation	Basis of Presentation and Consolidation The accompanying consolidated financial statements represent the consolidation of Federal Signal Corporation and its subsidiaries and have been prepared by the Company pursuant to the rules and regulations of the Securities and Exchange Commission (“SEC”) and in accordance with United States (“U.S.”) generally accepted accounting principles (“GAAP”).
New Accounting Standards Adopted in 2021	Recent Accounting Pronouncements In November 2023, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) 2023-07, Segment Reporting (Topic 280): Improvements to Reportable Segment Disclosures , which expands annual and interim disclosure requirements for reportable segments, including enhanced disclosures regarding significant segment expenses. ASU 2023-07 is effective for fiscal years beginning after December 15, 2023, and for interim periods within fiscal years beginning after December 15, 2024, with early adoption permitted. The Company is currently evaluating the impact of adopting this guidance on its financial statement disclosures. In December 2023, the FASB issued ASU 2023-09, Income Taxes (Topics 740): Improvements to Income Tax Disclosures , which expands the disclosure requirements for income taxes, specifically related to the rate reconciliation and income taxes paid. ASU 2023-09 is effective prospectively for annual periods beginning after December 15, 2024, with early adoption and retrospective application permitted. The Company is currently evaluating the impact of adopting this guidance on its financial statement disclosures.
Non-U.S. Operations	Non-U.S. Operations Assets and liabilities of non-U.S. subsidiaries, other than those whose functional currency is the U.S. dollar, are translated at current exchange rates with the related translation adjustments reported in stockholders’ equity as a component of Accumulated other comprehensive loss. Accounts within the Consolidated Statements of Operations are translated at the average exchange rate during the period. Non-monetary assets and liabilities are translated at historical exchange rates.
Use of Estimates	Use of Estimates The preparation of consolidated financial statements in conformity with U.S. GAAP requires management to make estimates and assumptions that affect (i) the reported amounts of assets and liabilities, (ii) the disclosure of contingent assets and liabilities at the date of the consolidated financial statements and (iii) the reported amounts of revenues and expenses during the reporting period. Actual results could differ from those estimates.
Cash Equivalents	Cash and Cash Equivalents The Company considers all highly liquid investments with a maturity of three months or less, when purchased, to be cash equivalents. The carrying amount of cash and cash equivalents approximates fair value because of the short-term maturity and highly liquid nature of these instruments.
Accounts Receivable	Accounts Receivable The Company carries accounts receivable at the face amount less an allowance for doubtful accounts for estimated losses as a result of a customer’s inability to make required payments. Management evaluates the aging of the accounts receivable balances, the financial condition of its customers, historical trends and the time outstanding of specific balances to estimate the amount of accounts receivables that may not be collected in the future and records the appropriate provision.
Inventories	Inventories The Company’s inventories are valued at the lower of cost and net realizable value. Cost is determined using the first-in, first-out method. Included in the cost of inventories are raw materials, direct wages and associated production costs.
Properties and Equipment	Properties and Equipment Properties and equipment are stated at cost, net of accumulated depreciation. Depreciation is recorded using the straight-line method over the estimated useful lives of the assets. Useful lives generally range from eight three over the shorter of the remaining life of the lease or the useful life of the improvement Properties and equipment are reviewed for impairment whenever events or changes in circumstances indicate that the carrying amount may not be recoverable. Rental Equipment The Company enters into lease agreements with customers related to the rental of certain equipment. All of these leasing agreements are classified as operating leases and are for periods generally not to exceed five years. In accounting for these leases, the cost of the equipment purchased or manufactured by the Company is recorded as an asset and is depreciated over its estimated useful life. Rental income is recognized ratably over the term of the underlying leases. Rental equipment is depreciated to an estimated residual value on a straight-line basis over the estimated useful lives of the assets and is reviewed for potential impairment whenever an event occurs or circumstances change that indicate the carrying amount of an asset may not be recoverable. If circumstances require a long-lived asset or asset group to be tested for possible impairment, the Company first compares non-discounted cash flows expected to be generated by that asset group to its carrying amount. If the carrying amount of the long-lived asset or asset group is not recoverable on a non-discounted cash flow basis, an impairment is recognized to the extent that the carrying amount exceeds fair value. Fair value is determined through various valuation techniques including discounted cash flow models, quoted market values and third-party independent appraisals, as considered necessary.
Goodwill	Goodwill Goodwill represents the excess of the cost of an acquired business over the amounts assigned to its net assets. Goodwill is not amortized but is tested for impairment at a reporting unit level on an annual basis or more frequently if indicators of impairment exist. The Company performed its annual goodwill impairment test as of October 31, 2023. In testing the goodwill of its reporting units for potential impairment, the Company applies either a qualitative or quantitative test, in accordance with Accounting Standards Codification (“ASC”) 350, Intangibles – Goodwill and Other . A qualitative approach may be applied when the Company concludes that it is not “more likely than not” that the fair value of a reporting unit is less than its carrying value. In this situation, the Company would not be required to perform the quantitative impairment test described below. A quantitative approach is performed by comparing the fair value of a reporting unit with its carrying amount. If the fair value of a reporting unit exceeds its carrying amount, goodwill of the reporting unit is not impaired and no impairment charge is required. If the carrying amount of a reporting unit exceeds its fair value, this difference is recorded as an impairment charge not to exceed the carrying amount of goodwill. The Company generally determines the fair value of its reporting units using both the income and market approaches. Under the income approach, the key assumptions include projected sales, earnings before interest, income taxes, depreciation and amortization (“EBITDA”) and the discount rate. Under the market approach, the Company estimates fair value using marketplace fair value data from within a comparable industry grouping. The results of these two methods are weighted based upon management’s evaluation of the relevance of the two approaches. In 2023, the Company performed a combination of qualitative and quantitative impairment tests to assess the goodwill of its reporting units for potential impairment. For one reporting unit, a quantitative impairment test was performed, using a combination of the income and market approaches to determine the fair value of its reporting unit. The valuation was prepared by a third-party valuation specialist. One measure of the sensitivity of assumptions used in the impairment analysis is the amount by which the reporting unit “passed” (fair value exceeds the carrying value). The fair value of the reporting unit exceeded its carrying value by more than 20% and, therefore, no impairment was recognized. For its other reporting units, the Company applied the qualitative approach and concluded that it was not “more likely than not” that the fair value of the reporting units were less than their carrying values. Accordingly, further quantitative testing was not required to be performed. The Company had no goodwill impairments in 2023, 2022 or 2021. See Note 8 – Goodwill and Other Intangible Assets for a summary of the Company’s goodwill by segment.
Intangible Assets	Intangible Assets Definite-lived intangible assets are amortized on a straight-line basis over the estimated useful lives and are tested for impairment if indicators exist in a manner similar to that described above for Rental Equipment . Indefinite-lived intangible assets are tested for impairment on an annual basis at October 31, or more frequently if an event occurs or circumstances change that indicate the fair value of an indefinite-lived intangible asset could be below its carrying amount. In testing the indefinite-lived intangibles assets for potential impairment, the Company applies either a qualitative test, or a quantitative test, in accordance with ASC 350. A qualitative approach may be applied when the Company concludes that it is not “more likely than not” that the fair value of the indefinite-lived intangible assets are less than their carrying value. A quantitative impairment test consists of comparing the fair value of the indefinite-lived intangible asset with its carrying amount. An impairment loss would be recognized for the carrying amount in excess of its fair value. In 2023, the Company performed a combination of qualitative and quantitative impairment tests over its indefinite-lived intangible assets. The fair value of the indefinite-lived intangible asset that was quantitatively tested for impairment exceeded its carrying value by approximately 40%, and, therefore, no impairment was recognized. Further, the Company concluded that it was not “more likely than not” that the fair value of indefinite-lived intangible assets that were qualitatively tested for impairment were less than the carrying amounts. Accordingly, further quantitative testing was not required to be performed. The Company had no indefinite-lived intangible asset impairments in 2023, 2022 or 2021. See Note 8 – Goodwill and Other Intangible Assets for a summary of the Company’s intangible assets.
Warranties	Warranties Warranties are classified as either assurance-type or service-type warranties. A warranty is considered an assurance-type warranty if it provides the customer with assurance that the product will function as intended. A warranty that goes above and beyond ensuring basic functionality is considered a service-type warranty. The Company offers certain limited warranties that are assurance-type warranties and extended service arrangements that are service-type warranties. Assurance-type warranties are not accounted for as separate performance obligations under the revenue model. If a service-type warranty is sold with a product or separately, revenue is recognized over the life of the warranty. Sales of many of the Company’s products include assurance-type warranties based on terms that are generally accepted in the Company’s marketplaces. The Company records provisions for estimated warranty costs, which are included within Cost of sales, at the time of sale based on historical experience. The Company periodically adjusts these provisions to reflect actual experience. Infrequently, a material warranty issue can arise which is beyond the scope of the Company’s historical experience. The Company records costs related to these issues as they become probable and estimable.
Workers' Compensation and Product Liability Reserves	Workers’ Compensation and Product Liability Reserves Due to the nature of the Company’s manufacturing and products, the Company is subject to claims for workers’ compensation and product liability in the normal course of business. The Company is self-funded for a portion of these claims. The Company establishes a reserve using a third-party actuary for any known outstanding matters, including a reserve for claims incurred but not yet reported. The amount and timing of cash payments relating to these claims are considered to be reliably determinable given the nature of the claims and historical claim volumes to support the actuarial assumptions and judgments used to derive the expected loss payment patterns. As such, the reserves recorded are discounted using a risk-free rate that matches the average duration of the claims. The Company has not established a reserve for potential losses resulting from the firefighter hearing loss litigation, with the exception of certain estimated losses that have been recognized related to settlement discussions (see Note 13 – Legal Proceedings). If the Company is not successful in its defense after exhausting all appellate options, it would record a charge for such claims, to the extent they exceed insurance recoveries, when the related losses become probable and estimable.
Pensions	Pensions The Company sponsors domestic and foreign defined benefit pension plans. Key assumptions used in the accounting for these employee benefit plans include the discount rate, expected long-term rate of return on plan assets and estimates of future mortality of plan participants. The weighted-average discount rate used to measure pension liabilities and costs is selected using a hypothetical portfolio of high-quality bonds that would provide the necessary cash flow to match the projected benefit payments of the plans. The discount rate represents the rate at which our benefit obligations could effectively be settled as of the year-end measurement date. The weighted-average discount rate used to measure pension liabilities decreased from 2022 to 2023. See Note 11 – Pension and Other Post-Employment Plans for further discussion. The expected long-term rate of return on plan assets is based on historical and expected returns for the asset classes in which the plans are invested. The Company references published mortality tables and scales in determining its estimate of future mortality.
Revenue Recognition	Revenue is recognized when performance obligations under the terms of a contract with the customer are satisfied; generally this occurs at a point in time, with the transfer of control of the Company’s products or services to customers. For most of the Company’s product sales, these criteria are met at the time the product is shipped; however, occasionally control passes later or earlier than shipment due to customer contract or letter of credit terms. In circumstances where credit is extended, payment terms generally range from 30 to 120 days and customer deposits may be required. Revenue is measured as the amount of consideration the Company expects to be entitled to in exchange for transferring products or providing services. Expected returns and allowances are estimated and recognized based primarily on an analysis of historical experience, with Net sales presented net of such returns and allowances. Net sales include sales of products and billed freight related to product sales. Freight has not historically comprised a material component of Net sales. The Company has elected to account for such shipping and handling activities as a fulfillment cost and not as a separate performance obligation. Taxes collected from customers and remitted to governmental authorities are recorded on a net basis and are excluded from Net sales.
Product Shipping Costs	Product Shipping Costs Product shipping costs are expensed as incurred and are included within Cost of sales.
Research and Development	Research and Development The Company invests in research to support development of new products and the enhancement of existing products and services. Expenditures for research and development by the Company were $12.4 million in 2023, $11.5 million in 2022 and $11.4 million in 2021, and are included within SEG&A expenses in the Consolidated Statements of Operations.
Stock-Based Compensation Plans	Stock-Based Compensation Plans The Company has various stock-based compensation plans, described more fully in Note 15 – Stock-Based Compensation. Stock-based compensation expense is recorded net of estimated forfeitures in the Company’s Consolidated Statements of Operations. The Company estimates the forfeiture rate based on historical forfeitures of equity awards and adjusts the rate to reflect changes in facts and circumstances, if any. The Company revises its estimated forfeiture rate if actual forfeitures differ from its initial estimates.
Income Taxes	Income Taxes The Company accounts for income taxes under the asset and liability method. Deferred tax assets and liabilities are recognized for the future tax consequences attributable to temporary differences between the financial statement carrying amounts of existing assets and liabilities and their respective tax bases and tax benefit carryforwards. Deferred tax assets and liabilities at the end of each period are determined using enacted tax rates expected to apply to taxable income in the period in which the deferred tax liability or asset is expected to be settled or realized. A valuation allowance is established or maintained when, based on currently available information and other factors, it is more likely than not that all or a portion of a deferred tax asset will not be realized. The Company files a consolidated U.S. federal income tax return for Federal Signal Corporation and its eligible domestic subsidiaries. The Company’s non-U.S. subsidiaries file income tax returns in their respective local jurisdictions. The Company accounts for taxes on Global Intangible Low-Taxed Income (“GILTI”) as a period expense in the year in which it is incurred. Accounting standards on accounting for uncertainty in income taxes address the determination of whether tax benefits claimed or expected to be claimed on a tax return should be recorded in the consolidated financial statements. Under the guidance on accounting for uncertainty in income taxes, the Company may recognize the tax benefit from an uncertain tax position only if it is more likely than not that the tax position will be sustained on examination by taxing authorities, based on the technical merits of the position. The tax benefits recognized in the consolidated financial statements from such a position are measured based on the largest benefit that has a greater than 50% likelihood of being realized upon ultimate settlement. The Company presents interest and penalties related to income tax matters as a component of Income tax expense on the Consolidated Statements of Operations.
Litigation Contingencies	Litigation Contingencies The Company is subject to various claims, including pending and possible legal actions for product liability and other damages, and other matters arising in the ordinary course of the Company’s business. The Company believes, based on current knowledge and after consultation with counsel, that the outcome of such claims and actions in the aggregate will not have an adverse effect on the Company’s financial position, results of operations or cash flows. However, in the event of unexpected future developments, it is possible that the ultimate resolution of such matters, if unfavorable, could have a material adverse effect on the Company’s results of operations. Professional legal fees are expensed when incurred. The Company accrues for contingent losses when such losses are probable and reasonably estimable. In the event that estimates or assumptions of contingent losses are different from actual results, adjustments are made in subsequent periods to reflect more current information.
Leases	The Company determines if an arrangement is a lease at inception. Operating lease right-of-use assets represent the Company’s right to use an underlying asset for the lease term and lease liabilities represent the Company’s obligation to make lease payments arising from the lease. Operating lease right-of-use assets and liabilities are recognized at the lease commencement date based on the present value of lease payments over the lease term. As most of the Company’s leases do not provide an implicit rate, the Company uses its incremental collateralized borrowing rate based on the information available at the commencement date in determining the present value of lease payments. Implicit rates are used when readily determinable. The Company’s lease terms may include options to extend or terminate the lease when it is reasonably certain that the Company will exercise that option. Lease expense for operating lease payments is recognized on a straight-line basis over the respective lease term.

Acquisitions (Tables)

Acquisitions (Tables)	12 Months Ended
Acquisitions (Tables)	Dec. 31, 2023
Business Acquisition [Line Items]
Business Acquisition, Pro Forma Information	The following table presents the unaudited pro forma combined net sales of the Company, OSW, Ground Force and Deist for the years ended December 31, 2021 and 2020, assuming the transactions occurred on January 1, 2020. Pro forma combined income from continuing operations and pro forma diluted earnings per share are not presented, as they would not be materially different from the results reported for the years ended December 31, 2021 and 2020. For the Years Ended December 31, (in millions of dollars) 2021 2020 Net sales $ 1,287.7 $ 1,229.1
TowHaul
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 43.3 Total consideration 43.3 Accounts receivable 1.5 Inventories 4.7 Properties and equipment 6.1 Customer relationships (a) 6.9 Trade names (b) 5.7 Other intangible assets 1.0 Accounts payable (0.1) Accrued liabilities (0.5) Customer deposits (2.4) Net assets acquired 22.9 Goodwill (c) $ 20.4 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 6 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.
Deist
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 38.1 Estimated fair value of additional consideration (a) 2.0 Total consideration 40.1 Accounts receivable 5.1 Inventories 8.8 Prepaid expenses and other current assets 0.2 Properties and equipment 8.5 Customer relationships (b) 3.1 Trade names (c) 5.2 Other intangible assets 1.1 Accounts payable (1.8) Accrued liabilities (3.2) Customer deposits (0.6) Net assets acquired 26.4 Goodwill (d) $ 13.7 (a) Represents the estimated fair value of the contingent earn-out payment as of the acquisition date, which is included as a component of Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of five years. (c) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (d) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.
Ground Force
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 43.1 Total consideration 43.1 Accounts receivable 3.0 Inventories 4.0 Prepaid expenses and other current assets 0.2 Properties and equipment 1.3 Operating lease right-of-use assets 3.0 Customer relationships (a) 16.8 Trade names (b) 7.8 Operating lease liabilities (3.0) Accounts payable (1.8) Accrued liabilities (0.7) Customer deposits (2.9) Net assets acquired 27.7 Goodwill (c) $ 15.4 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 12 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.
OSW
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 53.2 Total consideration 53.2 Cash 1.3 Accounts receivable 3.5 Inventories 8.3 Prepaid expenses and other current assets 0.7 Properties and equipment 5.8 Operating lease right-of-use assets 12.3 Customer relationships (a) 11.3 Trade names (b) 8.4 Other intangible assets 0.2 Operating lease liabilities (12.3) Accounts payable (3.8) Accrued liabilities (1.9) Customer deposits (0.8) Finance lease obligations (1.7) Net assets acquired 31.3 Goodwill (c) $ 21.9 (a) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of 12 years. (b) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (c) Goodwill, the majority of which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.
Trackless
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	The following table summarizes the preliminary fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 41.9 Estimated fair value of additional consideration (a) 4.5 Total consideration 46.4 Accounts receivable 4.7 Inventories 15.0 Prepaid expenses and other current assets 0.1 Rental equipment 1.6 Properties and equipment 4.4 Customer relationships (b) 10.5 Trade names (c) 2.8 Other intangible assets 1.3 Accounts payable (1.5) Accrued liabilities (0.5) Net assets acquired 38.4 Goodwill (d) $ 8.0 (a) Represents the preliminary estimated fair value of the contingent earn-out payment as of the acquisition date, which is included in Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) Represents the preliminary fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with a preliminary estimated useful life of approximately 12 years. (c) Represents the preliminary fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (d) Goodwill, which is primarily tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.
Blasters
Business Acquisition [Line Items]
Schedule of Recognized Identified Assets Acquired and Liabilities Assumed	As of December 31, 2023, the Company’s purchase price allocation for the Blasters acquisition is considered to be final. The following table summarizes the fair value of assets acquired and liabilities assumed as of the acquisition date: (in millions of dollars) Purchase price, inclusive of closing adjustments $ 13.0 Estimated fair value of additional consideration (a) 0.3 Total consideration 13.3 Accounts receivable 0.7 Inventories 4.6 Prepaid expenses and other current assets 0.1 Properties and equipment 0.9 Operating lease right-of-use assets (b) 1.1 Customer relationships (c) 4.4 Trade names (d) 2.3 Accounts payable (0.9) Accrued liabilities (0.5) Customer deposits (0.5) Operating lease liabilities (b) (1.1) Finance lease obligations (0.1) Net assets acquired 11.0 Goodwill (e) $ 2.3 (a) Represents the estimated fair value of the contingent earn-out payment as of the acquisition date, included in Other long-term liabilities on the Consolidated Balance Sheets. See Note 18 – Fair Value Measurements for discussion of the methodology used to determine the fair value of the contingent earn-out payment. (b) In connection with the acquisition, the Company entered into a lease agreement for the Blasters facility, which is owned by affiliates of the sellers. The related-party lease contains a market-based annual rent of $0.2 million, an initial lease term of five years, and options to renew. (c) Represents the fair value assigned to customer relationships, which are considered to be definite-lived intangible assets, with an estimated useful life of approximately 10 years. (d) Represents the fair value assigned to trade names, which are considered to be indefinite-lived intangible assets. (e) Goodwill, which is tax-deductible, has been allocated to the Environmental Solutions Group on the basis that the synergies identified will primarily benefit this segment.

Revenue Recognition (Tables)

Revenue Recognition (Tables)	12 Months Ended
Revenue Recognition (Tables)	Dec. 31, 2023
Revenue Recognition [Abstract]
Net Sales Disaggregated By Major Product Line	The following table presents the Company’s Net sales disaggregated by major product line: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Environmental Solutions Vehicles and equipment (a) $ 1,120.9 $ 927.9 $ 764.3 Parts 217.0 173.7 150.3 Rental income (b) 55.2 53.1 44.7 Other (c) 44.8 35.9 44.7 Total net sales 1,437.9 1,190.6 1,004.0 Safety and Security Systems Public safety and security equipment 173.2 149.1 126.1 Industrial signaling equipment 71.9 62.1 53.9 Warning systems 39.7 33.0 29.2 Total net sales 284.8 244.2 209.2 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 (a) Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment. (b) Represents revenues from vehicle and equipment lease arrangements with customers, recognized in accordance with Topic 842. (c) Primarily includes revenues from services such as maintenance and repair work and the sale of extended warranty contracts.

Leases (Tables)

Leases (Tables)	12 Months Ended
Leases (Tables)	Dec. 31, 2023
Leases [Abstract]
Lease Cost and Other Information	The following table summarizes the Company’s total lease costs and supplemental cash flow information arising from operating lease transactions: (in millions of dollars) For the Years Ended December 31, 2023 2022 2021 Total operating lease costs (a) $ 12.7 $ 11.7 $ 14.9 Cash paid for amounts included in the measurement of lease liabilities: Operating cash flows from operating leases 8.4 7.7 10.7 (a) Includes short-term leases and variable lease costs.
Lease Assets And Liabilities	The following table summarizes the components of lease right-of-use assets and liabilities: (in millions of dollars) 2023 2022 Affected Line Item in Consolidated Balance Sheets Assets Operating lease right-of-use assets $ 21.0 $ 24.7 Operating lease right-of-use assets Finance lease right-of-use assets 1.6 1.9 Properties and equipment, net Total lease right-of-use assets $ 22.6 $ 26.6 Liabilities Current: Operating leases $ 6.8 $ 6.9 Current operating lease liabilities Finance leases 0.8 0.7 Current portion of long-term borrowings and finance lease obligations Noncurrent: Operating leases 14.9 18.5 Long-term operating lease liabilities Finance leases 0.8 1.3 Long-term borrowings and finance lease obligations Total lease liabilities $ 23.3 $ 27.4
Weighted-Average Remaining Lease Terms and Discount Rates of Operating Leases	The weighted-average remaining lease terms and discount rates of the Company’s operating leases were as follows: 2023 2022 Weighted-average remaining lease term of operating leases 4.3 years 4.9 years Weighted-average discount rate of operating leases 3.0 % 2.5 %
Maturities of Operating Lease Liabilities	Maturities of operating lease liabilities as of December 31, 2023 were as follows: (in millions of dollars) 2024 $ 7.3 2025 5.4 2026 4.1 2027 2.3 2028 1.3 Thereafter 2.5 Total lease payments 22.9 Less: Imputed interest 1.2 Present value of operating lease liabilities $ 21.7

Inventories (Tables)

Inventories (Tables)	12 Months Ended
Inventories (Tables)	Dec. 31, 2023
Inventory Disclosure [Abstract]
Summary of Inventories	The following table summarizes the components of Inventories: (in millions of dollars) 2023 2022 Finished goods $ 116.1 $ 97.5 Raw materials 154.6 164.3 Work in process 32.7 30.9 Total inventories (a) $ 303.4 $ 292.7

Properties and Equipment (Table

Properties and Equipment (Tables)	12 Months Ended
Properties and Equipment (Tables)	Dec. 31, 2023
Property, Plant and Equipment [Abstract]
Summarized Properties and Equipment	The following table summarizes the components of Properties and equipment, net (in millions of dollars) 2023 2022 Land $ 16.8 $ 13.4 Buildings and improvements 125.4 117.9 Machinery and equipment 221.9 204.4 Total property and equipment, at cost 364.1 335.7 Less: Accumulated depreciation 173.3 156.4 Properties and equipment, net (a) $ 190.8 $ 179.3 (a) Amounts at December 31, 2023 include properties and equipment acquired in the acquisitions of Trackless and Blasters - see Note 2 - Acquisitions.

Rental Equipment (Tables)

Rental Equipment (Tables)	12 Months Ended
Rental Equipment (Tables)	Dec. 31, 2023
Rental Equipment [Abstract]
Schedule of Property Subject to or Available for Operating Lease	The following table summarizes the components of Rental equipment, net: (in millions of dollars) 2023 2022 Rental equipment $ 182.3 $ 154.5 Less: Accumulated depreciation 47.5 45.4 Rental equipment, net $ 134.8 $ 109.1

Goodwill and Other Intangible_2

Goodwill and Other Intangible Assets (Tables)	12 Months Ended
Goodwill and Other Intangible Assets (Tables)	Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]
Changes in Carrying Amount of Goodwill	The following table summarizes the carrying amount of goodwill and changes in the carrying amount of goodwill, by segment: (in millions of dollars) Environmental Safety & Security Total Balance at December 31, 2021 $ 320.2 $ 112.0 $ 432.2 Acquisitions, including measurement period adjustments 24.0 — 24.0 Translation adjustments (0.4) (2.4) (2.8) Balance at December 31, 2022 343.8 109.6 453.4 Acquisitions, including measurement period adjustments 17.8 — 17.8 Translation adjustments 0.3 1.2 1.5 Balance at December 31, 2023 $ 361.9 $ 110.8 $ 472.7
Schedule of Finite-Lived Intangible Assets	The following table summarizes the gross carrying amount and accumulated amortization of intangible assets for each major class of intangible assets: 2023 2022 (in millions of dollars) Gross Carrying Value Accumulated Amortization Net Carrying Value Gross Carrying Value Accumulated Amortization Net Carrying Value Definite-lived intangible assets: Customer relationships (a) $ 161.6 $ (66.3) $ 95.3 $ 153.7 $ (52.0) $ 101.7 Other (a) 8.1 (4.4) 3.7 5.7 (3.4) 2.3 Total definite-lived intangible assets 169.7 (70.7) 99.0 159.4 (55.4) 104.0 Indefinite-lived intangible assets: Trade names 104.2 — 104.2 99.9 — 99.9 Other 4.3 — 4.3 4.3 — 4.3 Total indefinite-lived intangible assets 108.5 — 108.5 104.2 — 104.2 Total intangible assets $ 278.2 $ (70.7) $ 207.5 $ 263.6 $ (55.4) $ 208.2 (a) Average useful life of customer relationships and other definite-lived intangible assets are estimated to be approximately 11 years and 6 years, respectively. The average useful life across all definite-lived intangible assets is estimated to be approximately 11 years.
Schedule of Indefinite-Lived Intangible Assets	The following table summarizes the gross carrying amount and accumulated amortization of intangible assets for each major class of intangible assets: 2023 2022 (in millions of dollars) Gross Carrying Value Accumulated Amortization Net Carrying Value Gross Carrying Value Accumulated Amortization Net Carrying Value Definite-lived intangible assets: Customer relationships (a) $ 161.6 $ (66.3) $ 95.3 $ 153.7 $ (52.0) $ 101.7 Other (a) 8.1 (4.4) 3.7 5.7 (3.4) 2.3 Total definite-lived intangible assets 169.7 (70.7) 99.0 159.4 (55.4) 104.0 Indefinite-lived intangible assets: Trade names 104.2 — 104.2 99.9 — 99.9 Other 4.3 — 4.3 4.3 — 4.3 Total indefinite-lived intangible assets 108.5 — 108.5 104.2 — 104.2 Total intangible assets $ 278.2 $ (70.7) $ 207.5 $ 263.6 $ (55.4) $ 208.2 (a) Average useful life of customer relationships and other definite-lived intangible assets are estimated to be approximately 11 years and 6 years, respectively. The average useful life across all definite-lived intangible assets is estimated to be approximately 11 years.

Debt (Tables)

Debt (Tables)	12 Months Ended
Debt (Tables)	Dec. 31, 2023
Line of Credit Facility [Line Items]
Summary of Components of Long-Term Borrowings and Finance Lease Obligations	The following table summarizes the components of Long-term borrowings and finance lease obligations (in millions of dollars) 2023 2022 2022 Credit Agreement $ 297.4 $ 361.0 Finance lease obligations 1.6 2.0 Total long-term borrowings and finance lease obligations, including current portion 299.0 363.0 Less: Current maturities 3.9 0.8 Less: Current finance lease obligations 0.8 0.7 Total long-term borrowings and finance lease obligations $ 294.3 $ 361.5
Schedule of Carrying Values and Estimated Fair Values of Debt Instruments	The following table summarizes the carrying amounts and fair values of the Company’s financial instruments: 2023 2022 (in millions of dollars) Notional Fair Notional Fair Long-term borrowings and finance lease obligations (a) $ 299.0 $ 299.0 $ 363.0 $ 363.0 (a) Includes current portions of long-term borrowings and finance lease obligations aggregating to $4.7 million and $1.5 million as of December 31, 2023 and 2022, respectively.
Schedule of Gross Borrowings and Gross Payments	The following table summarizes the gross borrowings and gross payments under the Company’s revolving credit facilities: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Gross borrowings $ 134.3 $ 137.0 $ 214.0 Gross payments 198.4 55.8 143.5

Income Taxes (Tables)

Income Taxes (Tables)	12 Months Ended
Income Taxes (Tables)	Dec. 31, 2023
Income Tax Disclosure [Abstract]
Components of Provision (Benefit) for Income Taxes	The following table summarizes the components of Income tax expense: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Current tax expense: Federal $ 33.7 $ 24.0 $ 14.7 Foreign 3.1 4.1 5.0 State and local 9.1 6.6 4.0 Total current tax expense 45.9 34.7 23.7 Deferred tax (benefit) expense: Federal — (3.5) 0.4 Foreign (0.5) (0.1) 1.5 State and local 0.2 (0.6) (8.6) Total deferred tax benefit (0.3) (4.2) (6.7) Total income tax expense $ 45.6 $ 30.5 $ 17.0
Differences between Statutory Federal Income Tax Rate and Effective Income Tax Rate	The following table summarizes the differences between the statutory federal income tax rate and the effective income tax rate: For the Years Ended December 31, 2023 2022 2021 Statutory federal income tax rate 21.0 % 21.0 % 21.0 % State income taxes, net of federal tax benefit 3.8 4.0 3.4 Valuation allowance (0.1) (2.3) (2.9) Remeasurement of deferred taxes (0.1) (0.6) (2.8) Foreign-derived intangible income (1.7) (0.9) (0.6) Executive compensation limitation 1.5 0.7 0.9 Foreign tax rate effects 0.7 0.6 1.2 Excess tax benefits from stock compensation activity (1.9) (1.6) (4.8) Other, net (0.7) (0.7) (0.9) Effective income tax rate 22.5 % 20.2 % 14.5 %
Schedule of Income before Income Tax	The following table summarizes Income before income taxes: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 U.S. $ 176.6 $ 132.1 $ 94.8 Non-U.S. 26.4 18.8 22.8 Income before income taxes $ 203.0 $ 150.9 $ 117.6
Deferred Income Tax Assets and Liabilities	The following table summarizes the Company’s deferred tax assets and liabilities: (in millions of dollars) 2023 2022 Deferred tax assets: Properties and equipment $ 3.5 $ 3.5 Accrued expenses 34.8 28.7 Stock-based compensation 3.3 3.2 Net operating loss and tax credit carryforwards 14.0 18.0 Goodwill and intangibles 4.8 0.9 Pension benefits 15.6 14.8 Gross deferred tax assets 76.0 69.1 Valuation allowance (0.5) (0.7) Total deferred tax assets 75.5 68.4 Deferred tax liabilities: Properties and equipment (40.6) (35.4) Pension benefits (11.9) (10.1) Goodwill and intangibles (62.4) (63.1) Other (1.8) (1.9) Gross deferred tax liabilities (116.7) (110.5) Net deferred tax liabilities $ (41.2) $ (42.1)
Summary of Activities Related to Unrecognized Tax Benefits	The following table summarizes the activity related to the Company’s unrecognized tax benefits: (in millions of dollars) 2023 2022 2021 Balance at January 1 $ 1.2 $ 1.2 $ 1.2 Increases as a result of tax positions taken in the current period 11.8 — 0.1 Decreases from prior period positions (0.5) — — Decreases due to lapse of statute of limitations — — (0.1) Balance at December 31 $ 12.5 $ 1.2 $ 1.2

Pension and Other Post-Employ_2

Pension and Other Post-Employment Plans (Tables)	12 Months Ended
Pension and Other Post-Employment Plans (Tables)	Dec. 31, 2023
Defined Benefit Plan Disclosure [Line Items]
Schedule of Net Periodic Pension Expense (Benefit)	The following table summarizes net periodic pension (benefit) expense for the U.S. and non-U.S. benefit plans: U.S. Benefit Plan Non-U.S. Benefit Plan For the Years Ended December 31, For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 2023 2022 2021 Company-sponsored plans: Service cost $ — $ — $ — $ 0.1 $ 0.1 $ 0.2 Interest cost 6.1 4.4 4.9 1.5 0.9 0.7 Expected return on plan assets (7.5) (6.9) (9.6) (2.1) (2.0) (2.0) Amortization of prior service costs — — — 0.1 0.1 0.2 Amortization of actuarial losses 1.3 2.3 3.9 1.0 0.6 0.8 Settlement charges — — 10.3 — — — Net periodic pension (benefit) expense $ (0.1) $ (0.2) $ 9.5 $ 0.6 $ (0.3) $ (0.1)
Weighted-Average Actuarial Assumptions Used to Determine Benefit Obligations And Expense	The following table summarizes the weighted-average assumptions used in determining pension costs: U.S. Benefit Plan Non-U.S. Benefit Plan For the Years Ended December 31, For the Years Ended December 31, 2023 2022 2021 2023 2022 2021 Discount rate 5.7 % 3.1 % 2.8 % 4.8 % 1.8 % 1.3 % Expected long-term rate of return on plan assets 7.2 % 6.1 % 7.4 % 6.1 % 4.0 % 3.5 % The following table summarizes the weighted-average assumptions used in determining benefit obligations: U.S. Benefit Plan Non-U.S. Benefit Plan 2023 2022 2023 2022 Discount rate 5.4 % 5.7 % 4.5 % 4.8 %
Summary of Changes in Projected Benefit Obligation	The following table summarizes the changes in the projected benefit obligation and plan assets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Benefit obligation, beginning of year $ 109.0 $ 142.0 $ 32.4 $ 52.8 Service cost — — 0.1 0.1 Interest cost 6.1 4.4 1.5 0.9 Actuarial loss (gain) 4.5 (29.0) 0.3 (13.4) Benefits and expenses paid (8.1) (8.4) (2.5) (2.6) Foreign currency translation — — 1.7 (5.4) Benefit obligation, end of year $ 111.5 $ 109.0 $ 33.5 $ 32.4 Accumulated benefit obligation, end of year $ 111.5 $ 109.0 $ 33.5 $ 32.4
Summary of Change in Plan Assets	The following summarizes the changes in the fair value of plan assets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Fair value of plan assets, beginning of year $ 87.0 $ 120.2 $ 34.8 $ 56.5 Actual return (loss) on plan assets (a) 8.2 (24.8) 3.5 (14.2) Company contribution 1.4 — 0.9 0.9 Benefits and expenses paid (8.1) (8.4) (2.5) (2.6) Foreign currency translation — — 1.9 (5.8) Fair value of plan assets, end of year $ 88.5 $ 87.0 $ 38.6 $ 34.8 (a) Actual return (loss) on plan assets of the U.S. benefit plan for the years ended December 31, 2023 and 2022, was net of fees, commissions and other expenses paid from plan assets of $1.4 million and $1.5 million, respectively.
Summary of Pension Assets in Three-Tier Fair Value Hierarchy for Benefit Plan	The following summarizes the Company’s pension assets in a three-tier fair value hierarchy for its benefit plans: U. S. Benefit Plan 2023 2022 (in millions of dollars) Level 1 Level 2 Level 3 Total Level 1 Level 2 Level 3 Total Cash and cash equivalents $ 1.6 $ — $ — $ 1.6 $ 4.1 $ — $ — $ 4.1 Equity investments: U.S. Large Cap 12.0 0.1 — 12.1 10.8 0.1 — 10.9 U.S. Small and Mid Cap 13.4 — — 13.4 13.6 — — 13.6 Developed international 5.2 0.3 — 5.5 4.8 0.7 — 5.5 Emerging markets 2.3 0.7 — 3.0 2.0 0.9 — 2.9 Fixed income investments: Government securities 1.7 — — 1.7 2.9 — — 2.9 Asset-backed securities — 0.2 — 0.2 — 0.2 — 0.2 Corporate bonds — 50.2 — 50.2 — 46.4 — 46.4 Total assets at fair value (a) $ 36.2 $ 51.5 $ — $ 87.7 $ 38.2 $ 48.3 $ — $ 86.5 (a) Total assets at fair value in the table above exclude a net receivable of $0.8 million and $0.5 million at December 31, 2023 and 2022, respectively. Non-U. S. Benefit Plan 2023 2022 (in millions of dollars) Level 1 Level 2 Level 3 Total Level 1 Level 2 Level 3 Total Cash and cash equivalents $ 0.8 $ 7.7 $ — $ 8.5 $ 0.9 $ 6.5 $ — $ 7.4 Diversified investment funds (a) — 18.9 — 18.9 — 15.3 — 15.3 Fixed income investments: Asset-backed securities — 4.4 — 4.4 — 4.0 — 4.0 Corporate bonds — 3.7 — 3.7 — 4.1 — 4.1 Other investments: Insurance-linked securities — — 3.1 3.1 — — 4.0 4.0 Total assets at fair value $ 0.8 $ 34.7 $ 3.1 $ 38.6 $ 0.9 $ 29.9 $ 4.0 $ 34.8 (a) These funds primarily invest in a diversified portfolio of equity securities and fixed income securities.
Summary of Funded Status	The following summarizes the funded status of the Company’s benefit plans: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Fair value of plan assets, end of year $ 88.5 $ 87.0 $ 38.6 $ 34.8 Benefit obligation, end of year 111.5 109.0 33.5 32.4 Funded status, end of year $ (23.0) $ (22.0) $ 5.1 $ 2.4
Schedule of Amounts Recognized In Consolidated Balance Sheet	The following summarizes the amounts recognized within the Company’s Consolidated Balance Sheets: U.S. Benefit Plan Non-U.S. Benefit Plan (in millions of dollars) 2023 2022 2023 2022 Amounts recognized in our Consolidated Balance Sheets include: Deferred charges and other long-term assets $ — $ — $ 5.1 $ 2.4 Long-term pension and other post-retirement benefit liabilities (23.0) (22.0) — — Net (liability) asset recorded $ (23.0) $ (22.0) $ 5.1 $ 2.4 Amounts recognized in Accumulated other comprehensive loss include: Actuarial losses $ 60.7 $ 58.1 $ 16.1 $ 17.3 Prior service costs — — 2.0 2.0 Net amount recognized, pre-tax $ 60.7 $ 58.1 $ 18.1 $ 19.3
Schedule of Expected Benefit Payments	The following summarizes the benefits expected to be paid under the Company’s benefit plans in each of the next five years, and in aggregate for the five years thereafter: (in millions of dollars) U.S. Benefit Plan Non-U.S. Benefit Plan 2024 $ 8.4 $ 2.5 2025 8.7 2.6 2026 8.7 2.5 2027 8.9 2.5 2028 8.8 2.5 2029-2033 42.9 11.4

Commitments and Contingencies (

Commitments and Contingencies (Tables)	12 Months Ended
Commitments and Contingencies (Tables)	Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]
Changes in Company's Warranty Liabilities	The following table summarizes the changes in the Company’s warranty liabilities: (in millions of dollars) 2023 2022 Balance at January 1 $ 9.3 $ 9.7 Provisions to expense 7.9 6.8 Acquisitions 0.1 — Payments (7.7) (7.2) Balance at December 31 $ 9.6 $ 9.3

Earnings (Loss) Per Share (Tabl

Earnings (Loss) Per Share (Tables)	12 Months Ended
Earnings (Loss) Per Share (Tables)	Dec. 31, 2023
Earnings Per Share [Abstract]
Computation of Earnings Per Common Share	The following table reconciles net income to basic and diluted EPS: For the Years Ended December 31, (in millions, except per share data) 2023 2022 2021 Net income $ 157.4 $ 120.4 $ 100.6 Weighted average shares outstanding — Basic 60.7 60.5 60.8 Dilutive effect of common stock equivalents 0.8 0.7 1.1 Weighted average shares outstanding — Diluted 61.5 61.2 61.9 Earnings per share: Basic $ 2.59 $ 1.99 $ 1.65 Diluted 2.56 1.97 1.63

Stock-Based Compensation (Table

Stock-Based Compensation (Tables)	12 Months Ended
Stock-Based Compensation (Tables)	Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock Option Activity	The following summarizes stock option activity: Option Shares Weighted Average Exercise Price (in millions, except per share data) 2023 2022 2021 2023 2022 2021 Outstanding, at beginning of year 1.2 1.4 2.0 $ 27.40 $ 23.58 $ 17.52 Granted 0.1 0.2 0.2 51.81 35.80 42.84 Exercised (0.3) (0.4) (0.8) 23.70 16.09 12.12 Canceled or expired — — — 41.45 33.89 30.76 Outstanding, at end of year 1.0 1.2 1.4 $ 31.65 $ 27.40 $ 23.58 Exercisable, at end of year 0.7 0.8 1.0 $ 26.35 $ 23.60 $ 19.15
Summary of Information Concerning Stock Options Outstanding	The following table summarizes information for stock options outstanding as of December 31, 2023 under all plans: Options Outstanding Options Exercisable Range of Exercise Prices Shares Weighted Average Weighted Average Shares Weighted Average (in millions) (in years) (in millions) $10.01 — 15.00 0.1 2.2 $ 12.77 0.1 $ 12.77 15.01 — 20.00 0.1 2.8 16.85 0.1 16.85 20.01 — 25.00 0.1 4.1 23.14 0.1 23.14 25.01 — 30.00 0.3 5.6 27.58 0.3 27.58 35.01 — 40.00 0.2 8.1 35.80 — 35.80 40.01 — 45.00 0.1 7.1 42.86 0.1 42.86 50.01 — 55.00 0.1 9.3 51.81 — — 1.0 6.0 $ 31.65 0.7 $ 26.35
Summary of Restricted Stock Grants	The following table summarizes restricted stock activity for the year ended December 31, 2023: Number of Weighted Average (in millions) Outstanding and non-vested, at December 31, 2022 0.3 $ 34.93 Granted — 52.76 Vested (0.1) 30.44 Forfeited — 39.23 Outstanding and non-vested, at December 31, 2023 0.2 $ 43.03
Equity Option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Assumptions Used to Calculate Fair Value	The fair value of each option grant was estimated using the Black-Scholes option pricing model with the following weighted average assumptions: 2023 2022 2021 Expected dividend yield 0.8 % 1.0 % 0.8 % Expected volatility 32.7 % 32.7 % 33.0 % Risk-free interest rate 3.3 % 3.0 % 1.1 % Expected option life in years 5.6 6.9 6.4
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Schedule of Share-based Compensation, Activity	The following table summarizes PSU activity for the year ended December 31, 2023: Number of PSUs Weighted Average Price per Share (in millions) Outstanding and non-vested, at December 31, 2022 0.2 $ 39.83 Granted (a) 0.1 51.31 Vested (0.1) 42.85 Forfeited — 42.19 Outstanding and non-vested, at December 31, 2023 0.2 $ 44.23
Assumptions used to Calculate PSU Fair Value	As the PSUs granted in 2023 and 2022 contain a market condition, the Company utilized a Monte Carlo simulation model to determine the respective grant date fair values, using the following assumptions: PSUs granted in 2023 Annual Expected Stock Price Volatility Annual Expected Dividend Yield Risk-Free Interest Rate Correlation Between TSR for Federal Signal Corporation and the Applicable S&P Index Federal Signal Corporation 29.8 % 0.8 % 3.6 % 48.0 % Peer Group within S&P 600 Capital Goods Index 44.4 % n/a 3.6 % n/a PSUs granted in 2022 Annual Expected Stock Price Volatility Annual Expected Dividend Yield Risk-Free Interest Rate Correlation Between TSR for Federal Signal Corporation and the Applicable S&P Index Federal Signal Corporation 34.4 % 1.0 % 2.8 % 52.3 % Peer Group within S&P 600 Capital Goods Index 50.5 % n/a 2.8 % n/a

Stockholders' Equity (Tables)

Stockholders' Equity (Tables)	12 Months Ended
Stockholders' Equity (Tables)	Dec. 31, 2023
Equity [Abstract]
Change in Accumulated Other Comprehensive Loss	The following tables summarize the changes in each component of Accumulated other comprehensive loss, net of tax: (in millions of dollars) (a) Actuarial Losses Prior Service Costs Foreign Interest Rate Swaps Total Balance at January 1, 2023 $ (68.6) $ (2.0) $ (16.0) $ 2.6 $ (84.0) Other comprehensive (loss) income before reclassifications (2.8) (0.1) 5.9 0.3 3.3 Amounts reclassified from accumulated other comprehensive loss 1.7 0.1 — (2.4) (0.6) Net current-period other comprehensive (loss) income (1.1) — 5.9 (2.1) 2.7 Balance at December 31, 2023 $ (69.7) $ (2.0) $ (10.1) $ 0.5 $ (81.3) (a) Amounts in parentheses indicate losses. (in millions of dollars) (a) Actuarial Losses Prior Service Costs Foreign Interest Rate Swaps Total Balance at January 1, 2022 $ (67.9) $ (2.4) $ (3.4) $ (0.5) $ (74.2) Other comprehensive (loss) income before reclassifications (2.9) 0.3 (12.6) 2.9 (12.3) Amounts reclassified from accumulated other comprehensive loss 2.2 0.1 — 0.2 2.5 Net current-period other comprehensive (loss) income (0.7) 0.4 (12.6) 3.1 (9.8) Balance at December 31, 2022 $ (68.6) $ (2.0) $ (16.0) $ 2.6 $ (84.0) (a) Amounts in parentheses indicate losses.
Reclassifications from Accumulated Other Comprehensive Loss	The following table summarizes the amounts reclassified from Accumulated other comprehensive loss, net of tax, and the affected line item in the Consolidated Statements of Operations: Details about Accumulated Other Comprehensive Loss Components Amount Reclassified from Accumulated Other Comprehensive Loss Affected Line Item in Consolidated Statements of Operations For the Years Ended December 31, 2023 2022 (in millions of dollars) (a) Amortization of actuarial losses of defined benefit pension plans $ (2.3) $ (2.9) Other expense (income), net Amortization of prior service costs of defined benefit pension plans (0.1) (0.1) Other expense (income), net Interest rate swaps 3.2 (0.2) Interest expense, net Total before tax 0.8 (3.2) Income tax (expense) benefit (0.2) 0.7 Income tax expense Total reclassifications for the period, net of tax $ 0.6 $ (2.5) (a) Amount in parentheses indicate expenses on the Consolidated Statements of Operations.

Segment Information (Tables)

Segment Information (Tables)	12 Months Ended
Segment Information (Tables)	Dec. 31, 2023
Segment Reporting [Abstract]
Summary of Continuing Operations by Segment	The following table summarizes the Company’s continuing operations by segment, including net sales, operating income, depreciation and amortization, total assets and capital expenditures: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Net sales: Environmental Solutions $ 1,437.9 $ 1,190.6 $ 1,004.0 Safety and Security Systems 284.8 244.2 209.2 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 Operating income: Environmental Solutions $ 209.2 $ 144.5 $ 120.5 Safety and Security Systems 54.8 40.8 32.7 Corporate and eliminations (39.5) (24.5) (22.5) Total operating income 224.5 160.8 130.7 Interest expense 19.7 10.3 4.5 Pension settlement charges — — 10.3 Other expense (income), net 1.8 (0.4) (1.7) Income before income taxes $ 203.0 $ 150.9 $ 117.6 Depreciation and amortization: Environmental Solutions $ 56.0 $ 50.3 $ 46.7 Safety and Security Systems 4.2 4.2 3.6 Corporate 0.2 0.2 0.1 Total depreciation and amortization $ 60.4 $ 54.7 $ 50.4 Total assets: Environmental Solutions $ 1,290.9 $ 1,206.4 $ 1,098.2 Safety and Security Systems 288.1 279.3 226.9 Corporate and eliminations 41.5 38.6 41.0 Total assets $ 1,620.5 $ 1,524.3 $ 1,366.1 Capital expenditures: Environmental Solutions $ 23.0 $ 19.4 $ 34.3 Safety and Security Systems 5.2 32.4 2.8 Corporate 2.1 1.2 0.3 Total capital expenditures $ 30.3 $ 53.0 $ 37.4
Schedule Of Segment Reporting Information By Geographical Segment Table	The following table summarizes net sales by geographic region based on the location of the end-customer: For the Years Ended December 31, (in millions of dollars) 2023 2022 2021 Net sales: U.S. $ 1,337.4 $ 1,149.8 $ 926.8 Canada 237.8 175.3 192.4 Europe/Other 147.5 109.7 94.0 Total net sales $ 1,722.7 $ 1,434.8 $ 1,213.2 The following table summarizes long-lived assets by geographic region based on the location of the Company’s subsidiaries: (in millions of dollars) 2023 2022 2021 Long-lived assets: U.S. $ 261.6 $ 249.4 $ 219.9 Canada 80.7 59.1 56.3 Europe/Other 4.3 4.6 3.9 Total long-lived assets $ 346.6 $ 313.1 $ 280.1

Fair Value Measurements (Tables

Fair Value Measurements (Tables)	12 Months Ended
Fair Value Measurements (Tables)	Dec. 31, 2023	Dec. 31, 2022
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis	The following tables summarize the Company’s assets and liabilities that are measured at fair value on a recurring basis as of December 31, 2023 and 2022: Fair Value Measurement at December 31, 2023 Using (in millions of dollars) Level 1 Level 2 Level 3 Total Assets: Cash equivalents $ 20.5 $ — $ — $ 20.5 Liabilities: Contingent consideration — — 4.9 4.9 Interest rate swaps — 0.7 — 0.7	Fair Value Measurement at December 31, 2022 Using (in millions of dollars) Level 1 Level 2 Level 3 Total Assets: Cash equivalents $ 0.2 $ — $ — $ 0.2 Liabilities: Contingent consideration — — 2.7 2.7 Interest rate swaps — 0.3 — 0.3
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation	The following table provides a roll-forward of the fair value of recurring Level 3 fair value measurements for the years ended December 31, 2023 and 2022: (in millions of dollars) 2023 2022 Contingent consideration liability, at January 1 $ 2.7 $ 2.7 Issuance of contingent consideration in connection with acquisitions 4.8 — Settlements of contingent consideration liabilities (0.5) — Total gains included in earnings (a) (2.1) — Contingent consideration liability, at December 31 $ 4.9 $ 2.7

Significant Accounting Policies

Significant Accounting Policies - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) Segment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Significant Accounting Policies [Line Items]
Number of reportable segments \| Segment	2
Foreign currency transaction (gain) loss	$ 0.6	$ 0.2	$ (0.3)
Depreciation expense	45.2	41.8	39.5
Goodwill impairment	0	0	0
Indefinite-lived intangible asset impairment	0	0	0
Deferred revenue	$ 4.3	4.1
Minimum
Significant Accounting Policies [Line Items]
Percentage of reporting unit fair value in excess of carrying amount	20%
Percentage of reporting unit fair value of indefinite-lived intangible assets in excess of carrying amount	40%
Maximum
Significant Accounting Policies [Line Items]
Rental equipment operating lease term	5 years
Building \| Minimum
Significant Accounting Policies [Line Items]
Useful life	8 years
Building \| Maximum
Significant Accounting Policies [Line Items]
Useful life	40 years
Machinery and Equipment \| Minimum
Significant Accounting Policies [Line Items]
Useful life	3 years
Machinery and Equipment \| Maximum
Significant Accounting Policies [Line Items]
Useful life	15 years
Leasehold Improvements
Significant Accounting Policies [Line Items]
Property, Plant, and Equipment, Useful Life, Term, Description [Extensible Enumeration]	Useful Life, Shorter of Lease Term or Asset Utility [Member]
Selling, engineering, general and administrative expenses
Significant Accounting Policies [Line Items]
Research and development expenses	$ 12.4	$ 11.5	$ 11.4

Acquisitions - Narrative (Detai

Acquisitions - Narrative (Details)									12 Months Ended
Acquisitions - Narrative (Details)		Apr. 03, 2023 USD ($)	Apr. 03, 2023 CAD ($)	Jan. 03, 2023 USD ($)	Oct. 03, 2022 USD ($)	Dec. 30, 2021 USD ($)	Oct. 04, 2021 USD ($)	Feb. 17, 2021 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Apr. 03, 2023 CAD ($)
Business Acquisition [Line Items]
Net sales									$ 1,722,700,000	$ 1,434,800,000	$ 1,213,200,000
Operating income									224,500,000	160,800,000	130,700,000
Goodwill acquired										24,000,000
Goodwill									472,700,000	453,400,000	432,200,000
Total operating lease costs	[1]								12,700,000	11,700,000	$ 14,900,000
Deist
Business Acquisition [Line Items]
Purchase price, subject to post-closing adjustments						$ 38,100,000
Contingent consideration maximum						7,500,000
Purchase price, inclusive of adjustment for working capital and other post-closing items						38,100,000
Goodwill acquired						$ 13,700,000
Ground Force
Business Acquisition [Line Items]
Purchase price, subject to post-closing adjustments							$ 43,100,000
Purchase price, inclusive of adjustment for working capital and other post-closing items							43,100,000
Goodwill acquired							$ 15,400,000
OSW
Business Acquisition [Line Items]
Purchase price, subject to post-closing adjustments								$ 53,200,000
Purchase price, inclusive of adjustment for working capital and other post-closing items								53,200,000
Goodwill acquired								$ 21,900,000
Business Acquisition Post Closing Dispute									1,900,000
Trackless
Business Acquisition [Line Items]
Net sales									28,100,000
Operating income									5,100,000
Purchase price, subject to post-closing adjustments		$ 41,900,000	$ 56,300,000
Contingent consideration maximum		4,500,000										$ 6,000,000
Goodwill acquired		$ 8,000,000
Blasters
Business Acquisition [Line Items]
Net sales									20,600,000
Operating income									1,500,000
Lessee, Operating Lease, Initial Lease Term				5 years
Purchase price, subject to post-closing adjustments				$ 13,000,000
Contingent consideration maximum				8,000,000
Purchase price, inclusive of adjustment for working capital and other post-closing items				13,000,000
Goodwill acquired				2,300,000
Total operating lease costs				$ 200,000
TowHaul
Business Acquisition [Line Items]
Purchase price, subject to post-closing adjustments					$ 43,300,000
Purchase price, inclusive of adjustment for working capital and other post-closing items					43,300,000
Goodwill acquired					$ 20,400,000
Goodwill, Other Increase (Decrease)									$ 7,500,000
Goodwill										$ 12,900,000

[1] Includes short-term leases and variable lease costs.

Acquisitions - Fair Value of As

Acquisitions - Fair Value of Assets Acquired and Liabilities Assumed (Details)								12 Months Ended
	Apr. 03, 2023 CAD ($)	Apr. 03, 2023 USD ($)	Jan. 03, 2023 USD ($)	Oct. 03, 2022 USD ($)	Dec. 30, 2021 USD ($)	Oct. 04, 2021 USD ($)	Feb. 17, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2023
Business Acquisition [Line Items]
Goodwill acquired								$ 24,000,000
Definite-lived intangible asset, useful life									11 years
Deist
Business Acquisition [Line Items]
Purchase price, inclusive of adjustment for working capital and other post-closing items					$ 38,100,000
Estimated fair value of additional consideration					2,000,000
Total consideration					40,100,000
Accounts receivable					5,100,000
Inventories					8,800,000
Prepaid expenses and other current assets					200,000
Properties and equipment					8,500,000
Customer relationships					3,100,000
Trade names					5,200,000
Other intangible assets					1,100,000
Accounts payable					(1,800,000)
Accrued liabilities					(3,200,000)
Customer deposits					(600,000)
Net assets acquired					26,400,000
Goodwill acquired					13,700,000
Purchase price, subject to post-closing adjustments					$ 38,100,000
Deist \| Customer Relationships
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life					5 years
Ground Force
Business Acquisition [Line Items]
Purchase price, inclusive of adjustment for working capital and other post-closing items						$ 43,100,000
Total consideration						43,100,000
Accounts receivable						3,000,000
Inventories						4,000,000
Prepaid expenses and other current assets						200,000
Properties and equipment						1,300,000
Operating lease right-of use-assets						3,000,000
Customer relationships						16,800,000
Trade names						7,800,000
Operating lease liabilities						(3,000,000)
Accounts payable						(1,800,000)
Accrued liabilities						(700,000)
Customer deposits						(2,900,000)
Net assets acquired						27,700,000
Goodwill acquired						15,400,000
Purchase price, subject to post-closing adjustments						$ 43,100,000
Ground Force \| Customer Relationships
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life						12 years
OSW
Business Acquisition [Line Items]
Purchase price, inclusive of adjustment for working capital and other post-closing items							$ 53,200,000
Cash							1,300,000
Accounts receivable							3,500,000
Inventories							8,300,000
Prepaid expenses and other current assets							700,000
Properties and equipment							5,800,000
Operating lease right-of use-assets							12,300,000
Customer relationships							11,300,000
Trade names							8,400,000
Other intangible assets							200,000
Operating lease liabilities							(12,300,000)
Accounts payable							(3,800,000)
Accrued liabilities							(1,900,000)
Customer deposits							(800,000)
Finance lease obligations							(1,700,000)
Net assets acquired							31,300,000
Goodwill acquired							21,900,000
Purchase price, subject to post-closing adjustments							$ 53,200,000
OSW \| Customer Relationships
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life							12 years
TowHaul
Business Acquisition [Line Items]
Purchase price, inclusive of adjustment for working capital and other post-closing items				$ 43,300,000
Total consideration				43,300,000
Accounts receivable				1,500,000
Inventories				4,700,000
Properties and equipment				6,100,000
Customer relationships				6,900,000
Trade names				5,700,000
Other intangible assets				1,000,000
Accounts payable				(100,000)
Accrued liabilities				(500,000)
Customer deposits				(2,400,000)
Net assets acquired				22,900,000
Goodwill acquired				20,400,000
Purchase price, subject to post-closing adjustments				$ 43,300,000
TowHaul Corporation \| Customer Relationships
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life				6 years
Blasters
Business Acquisition [Line Items]
Purchase price, inclusive of adjustment for working capital and other post-closing items			$ 13,000,000
Estimated fair value of additional consideration			300,000
Total consideration			13,300,000
Accounts receivable			700,000
Inventories			4,600,000
Prepaid expenses and other current assets			100,000
Properties and equipment			900,000
Operating lease right-of use-assets			1,100,000
Customer relationships			4,400,000
Trade names			2,300,000
Operating lease liabilities			(1,100,000)
Accounts payable			(900,000)
Accrued liabilities			(500,000)
Customer deposits			(500,000)
Finance lease obligations			(100,000)
Net assets acquired			11,000,000
Goodwill acquired			2,300,000
Purchase price, subject to post-closing adjustments			$ 13,000,000
Blasters \| Customer-Related Intangible Assets
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life			10 years
Trackless
Business Acquisition [Line Items]
Total consideration		$ 46,400,000
Accounts receivable		4,700,000
Inventories		15,000,000
Prepaid expenses and other current assets		100,000
Rental equipment		1,600,000
Properties and equipment		4,400,000
Customer relationships		10,500,000
Trade names		2,800,000
Other intangible assets		1,300,000
Accounts payable		(1,500,000)
Accrued liabilities		(500,000)
Net assets acquired		38,400,000
Goodwill acquired		8,000,000
Purchase price, subject to post-closing adjustments	$ 56,300,000	$ 41,900,000
Trackless \| Customer-Related Intangible Assets
Business Acquisition [Line Items]
Definite-lived intangible asset, useful life		12 years

Acquisitions - Pro Forma (Detai

Acquisitions - Pro Forma (Details) - USD ($) $ in Millions	12 Months Ended
Acquisitions - Pro Forma (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021
2021 Acquisitions
Business Acquisition [Line Items]
Net sales	$ 1,287.7	$ 1,229.1

Revenue Recognition - Disaggreg

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
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	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	$ 29.2

[1] Includes net sales from the sale of new and used vehicles and equipment, including sales of rental equipment.

Revenue Recognition - Contract

Revenue Recognition - Contract Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Contract with Customer, Liability [Abstract]
Contract liabilities	$ 30.9	$ 28.9

Revenue Recognition - Additiona

Revenue Recognition - Additional Information (Details)	12 Months Ended
Revenue Recognition - Additional Information (Details)	Dec. 31, 2023
Related Party Transaction [Line Items]
Description of expected returns and allowances	Expected returns and allowances are estimated and recognized based primarily on an analysis of historical experience, with Net sales presented net of such returns and allowances.
Description of payment terms	Contract liabilities are recognized as Net sales when the related performance obligations are satisfied, which generally occurs within three to six months of the cash receipt.

Leases - Lease Cost and Other I

Leases - Lease Cost and Other Information (Details) - USD ($) $ in Millions		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases - Lease Costs and Other Information [Abstract]
Total operating lease costs	[1]	$ 12.7	$ 11.7	$ 14.9
Operating cash flows from operating leases		$ 8.4	$ 7.7	$ 10.7

[1] Includes short-term leases and variable lease costs.

Leases - Lease Assets and Liabi

Leases - Lease Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible Enumeration]	Properties and equipment, net	Properties and equipment, net
Finance Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Current portion of long-term borrowings and finance lease obligations	Current portion of long-term borrowings and finance lease obligations
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Long-term borrowings and finance lease obligations	Long-term borrowings and finance lease obligations
Assets
Operating lease right-of-use assets	$ 21	$ 24.7
Finance lease right-of-use assets	1.6	1.9
Total lease right-of-use assets	22.6	26.6
Current liabilities:
Operating leases	6.8	6.9
Finance leases	0.8	0.7
Noncurrent liabilities:
Operating leases	14.9	18.5
Finance leases	0.8	1.3
Total lease liabilities	$ 23.3	$ 27.4

Leases - Weighted-Average Remai

Leases - Weighted-Average Remaining Lease Terms and Discount Rates of Operating Leases (Details)	Dec. 31, 2023	Dec. 31, 2022
Leases [Abstract]
Weighted-average remaining lease term of operating leases	4 years 3 months 18 days	4 years 10 months 24 days
Weighted-average discount rate of operating leases	3%	2.50%

Leases - Maturity of Lease Liab

Leases - Maturity of Lease Liabilities (Details) $ in Millions	Dec. 31, 2023 USD ($)
Leases [Abstract]
2024	$ 7.3
2025	5.4
2026	4.1
2027	2.3
2028	1.3
Thereafter	2.5
Total lease payments	22.9
Less: Imputed interest	1.2
Present value of operating lease liabilities	$ 21.7

Leases - Additional Information

Leases - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Operating lease liabilities	$ 21.7
Affiliated entity
Lessee, Lease, Description [Line Items]
Operating lease liabilities	4.2	$ 6.9
Rent paid on operating leases	$ 2.3	$ 2.8	$ 2.5

Inventories (Details)

Inventories (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Inventory Disclosure [Abstract]
Finished goods	$ 116.1	$ 97.5
Raw materials	154.6	164.3
Work in process	32.7	30.9
Total inventories	$ 303.4	$ 292.7

Properties and Equipment - Summ

Properties and Equipment - Summary of Properties and Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Abstract]
Land	$ 16.8	$ 13.4
Buildings and improvements	125.4	117.9
Machinery and equipment	221.9	204.4
Total property and equipment, at cost	364.1	335.7
Less: Accumulated depreciation	173.3	156.4
Properties and equipment, net	$ 190.8	$ 179.3

Rental Equipment (Details)

Rental Equipment (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Operating Leased Assets [Line Items]
Rental Equipment	$ 182.3	$ 154.5
Less: Accumulated depreciation	47.5	45.4
Rental equipment, net	$ 134.8	$ 109.1

Goodwill and Other Intangible_3

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
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
Goodwill, ending balance	361.9	343.8
Safety And Security Systems
Goodwill [Roll Forward]
Goodwill, beginning balance	109.6	112
Translation adjustments	1.2	(2.4)
Acquisitions, including measurement period adjustments	0
Goodwill acquired		0
Goodwill, ending balance	$ 110.8	$ 109.6

Goodwill and Other Intangible_4

Goodwill and Other Intangible Assets - Changes in Carrying Amount of Definite-Lived Intangible Assets (Details) - USD ($) $ in Millions		Dec. 31, 2023	Dec. 31, 2022
Finite-Lived Intangible Assets [Line Items]
Gross carrying value		$ 169.7	$ 159.4
Accumulated amortization		(70.7)	(55.4)
Net carrying value		99	104
Total intangible assets (excluding goodwill), gross carrying value		278.2	263.6
Total intangible assets (excluding goodwill), net		$ 207.5	208.2
Definite-lived intangible asset, useful life		11 years
Estimated amortization of intangibles, year one		$ 15.4
Estimated amortization of intangibles, year two		15.4
Estimated amortization of intangibles, year three		15.3
Estimated amortization of intangibles, year four		14.4
Estimated amortization of intangibles, year five		13.7
Estimated amortization of intangibles, thereafter		24.8
Customer Relationships
Finite-Lived Intangible Assets [Line Items]
Gross carrying value	[1]	161.6	153.7
Accumulated amortization	[1]	(66.3)	(52)
Net carrying value	[1]	$ 95.3	101.7
Customer Relationships \| TBEI
Finite-Lived Intangible Assets [Line Items]
Definite-lived intangible asset, useful life		11 years
Other Intangible Assets
Finite-Lived Intangible Assets [Line Items]
Gross carrying value	[1]	$ 8.1	5.7
Accumulated amortization	[1]	(4.4)	(3.4)
Net carrying value	[1]	$ 3.7	$ 2.3
Definite-lived intangible asset, useful life		6 years

[1]Average useful life of customer relationships and other definite-lived intangible assets are estimated to be approximately 11 years and 6 years, respectively. The average useful life across all definite-lived intangible assets is estimated to be approximately 11 years.

Goodwill and Other Intangible_5

Goodwill and Other Intangible Assets - Changes in Carrying Amount of Indefinite-Lived Intangible Assets (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Indefinite-lived Intangible Assets [Line Items]
Net carrying value	$ 108.5	$ 104.2
Trade Names
Indefinite-lived Intangible Assets [Line Items]
Net carrying value	104.2	99.9
Distribution Rights
Indefinite-lived Intangible Assets [Line Items]
Net carrying value	$ 4.3	$ 4.3

Debt - Summary of Components of

Debt - Summary of Components of Long-Term Borrowings and Finance Lease Obligations (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Finance Lease, Liability	$ 1.6	$ 2
Total long-term borrowings and finance lease obligations, including current portion	299	363
Long-term Debt, Current Maturities	3.9	0.8
Finance leases	0.8	0.7
Total long-term borrowings and finance lease obligations	294.3	361.5
2022 Credit Agreement
Debt Instrument [Line Items]
Credit Agreement	$ 297.4	$ 361

Debt - Summary of Carrying Amou

Debt - Summary of Carrying Amount and Fair Value of Financial Instruments (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term borrowings	$ 299	$ 363
Current portion of long-term borrowings and finance lease obligations	4.7	1.5
Notional Amount
Debt Instrument [Line Items]
Long-term borrowings	299	363
Fair Value
Debt Instrument [Line Items]
Long-term borrowings	$ 299	$ 363

Debt - Schedule of Gross Borrow

Debt - Schedule of Gross Borrowings and Gross Payments (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Line of Credit Facility [Line Items]
Gross borrowings	$ 134.3	$ 137	$ 214
Gross payments	$ 198.4	$ 55.8	$ 143.5

Debt - Additional Information (

Debt - Additional Information (Details)					12 Months Ended
Debt - Additional Information (Details)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Oct. 21, 2022 USD ($)	Oct. 02, 2022 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jul. 11, 2023 USD ($)
Debt Instrument [Line Items]
Deferred financing costs					$ 0	$ 1,900,000	$ 0
Aggregate maturities of total borrowings due, year one	$ 4,700,000				4,700,000
Aggregate maturities of total borrowings due, year two	7,800,000				7,800,000
Aggregate maturities of total borrowings due, year three	10,200,000				10,200,000
Aggregate maturities of total borrowings due, year four	$ 276,300,000				$ 276,300,000
Weighted average interest rate on short-term borrowings	5.90%				5.90%
Interest paid					$ 22,800,000	9,400,000	3,900,000
Unrealized (loss) gain on interest rate cash flow hedges, pretax, accumulated other comprehensive income (loss)					(400,000)	4,100,000	$ 2,300,000
Interest rate swap fair value	$ (700,000)	$ (300,000)			(700,000)	(300,000)
Debt settlement charges						100,000
2022 Credit Agreement \| Line of Credit
Debt Instrument [Line Items]
Secured credit facility			$ 800,000,000
Guaranteed percentage of outstanding voting capital stock			65%
Line of credit facility, covenant terms, leverage ratio maximum			3.25
Line of Credit Facility, Accordion Feature, Increase Limit			$ 400,000,000
Line of Credit Facility, Accordion Feature, Increase Limit, EBITDA Factor			100%
2022 Credit Agreement \| Minimum \| Line of Credit
Debt Instrument [Line Items]
Line of credit facility, covenants holiday, permitted acquisition consideration			$ 75,000,000
Line of credit facility, unused capacity, commitment fee percentage			0.10%
2022 Credit Agreement \| Maximum \| Line of Credit
Debt Instrument [Line Items]
Line of credit facility, unused capacity, commitment fee percentage			0.25%
Line of credit facility, covenants, permitted dividends and stock repurchases			$ 35,000,000
Line of credit facility, covenants, permitted other incremental cash payments			$ 65,000,000
Line of Credit Facility, Covenants, Permitted Other Incremental Cash Payments Percentage Of Total Assets			5%
2022 Credit Agreement \| Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate \| Minimum \| Line of Credit
Debt Instrument [Line Items]
Base rate borrowings margin ranges			1%
2022 Credit Agreement \| Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate \| Maximum \| Line of Credit
Debt Instrument [Line Items]
Base rate borrowings margin ranges			1.75%
2022 Credit Agreement \| Base Rate \| Minimum \| Line of Credit
Debt Instrument [Line Items]
Base rate borrowings margin ranges			0%
2022 Credit Agreement \| Base Rate \| Maximum \| Line of Credit
Debt Instrument [Line Items]
Base rate borrowings margin ranges			0.75%
2022 Credit Agreement \| Secured Debt \| Line of Credit
Debt Instrument [Line Items]
Secured credit facility			$ 125,000,000
2022 Credit Agreement \| Letter of Credit
Debt Instrument [Line Items]
Credit facility outstanding amount	9,100,000				9,100,000
2022 Credit Agreement \| Letter of Credit \| Line of Credit
Debt Instrument [Line Items]
Secured credit facility			100,000,000
Line of credit facility non-U.S. maximum borrowing capacity			300,000,000
2022 Credit Agreement \| Revolving Credit Facility
Debt Instrument [Line Items]
Secured credit facility	500,000,000				500,000,000
Line of credit facility, amount outstanding	173,200,000				173,200,000
Credit facility outstanding amount	492,700,000				492,700,000
2022 Credit Agreement \| Revolving Credit Facility \| Line of Credit
Debt Instrument [Line Items]
Secured credit facility			$ 675,000,000
2022 Credit Agreement \| Term loan Credit Facility
Debt Instrument [Line Items]
Line of credit facility, amount outstanding	124,200,000				124,200,000
Interest Rate Swap
Debt Instrument [Line Items]
Interest rate swap asset, fair value				$ 4,300,000
Debt and Equity Securities, Realized Gain (Loss)					2,400,000	$ 500,000
Debt Securities, Unrealized Gain (Loss)	1,400,000	$ 3,800,000
2022 Swap [Member]
Debt Instrument [Line Items]
Line of credit facility, amount outstanding	75,000,000				75,000,000
Interest rate swap, notional amount	$ 75,000,000				$ 75,000,000
Interest Rate Swap 2023
Debt Instrument [Line Items]
Line of credit facility, amount outstanding								$ 75,000,000
Interest rate swap, notional amount								$ 75,000,000

Income Taxes - Components of Pr

Income Taxes - Components of Provision (Benefit) for Income Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current tax expense:
Federal	$ 33.7	$ 24	$ 14.7
Foreign	3.1	4.1	5
State and local	9.1	6.6	4
Total current tax expense	45.9	34.7	23.7
Deferred tax (benefit) expense:
Federal	0	(3.5)	0.4
Foreign	(0.5)	(0.1)	1.5
State and local	0.2	(0.6)	(8.6)
Deferred tax expense (benefit)	(0.3)	(4.2)	(6.7)
Total income tax expense	$ 45.6	$ 30.5	$ 17

Income Taxes - Differences betw

Income Taxes - Differences between Statutory Federal Income Tax Rate and Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory federal income tax rate	21%	21%	21%
State income taxes, net of federal tax benefit	3.80%	4%	3.40%
Valuation allowance	(0.10%)	(2.30%)	(2.90%)
Remeasurement of deferred taxes	(0.10%)	(0.60%)	(2.80%)
Foreign-derived intangible income	(1.70%)	(0.90%)	(0.60%)
Executive compensation limitation	1.50%	0.70%	0.90%
Foreign tax rate effects	0.70%	0.60%	1.20%
Effective Income Tax Rate Reconciliation, Tax Expense (Benefit), Share-Based Payment Arrangement, Percent	(1.90%)	(1.60%)	(4.80%)
Other, net	(0.70%)	(0.70%)	(0.90%)
Effective income tax rate	22.50%	20.20%	14.50%

Income Taxes - Income (Loss) fr

Income Taxes - Income (Loss) from Continuing Operations before Taxes (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S.	$ 176.6	$ 132.1	$ 94.8
Non-U.S.	26.4	18.8	22.8
Income before income taxes	$ 203	$ 150.9	$ 117.6

Income Taxes - Deferred Income

Income Taxes - Deferred Income Tax Assets and Liabilities (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Properties and equipment	$ 3.5	$ 3.5
Accrued expenses	34.8	28.7
Stock-based compensation	3.3	3.2
Net operating loss and tax credit carryforwards	14	18
Goodwill and intangibles	4.8	0.9
Pension benefits	15.6	14.8
Gross deferred tax assets	76	69.1
Valuation allowance	(0.5)	(0.7)
Total deferred tax assets	75.5	68.4
Deferred tax liabilities:
Properties and equipment	(40.6)	(35.4)
Pension benefits	(11.9)	(10.1)
Goodwill and intangibles	(62.4)	(63.1)
Other	(1.8)	(1.9)
Gross deferred tax liabilities	(116.7)	(110.5)
Net deferred tax liabilities	$ (41.2)	$ (42.1)

Income Taxes - Summary of Activ

Income Taxes - Summary of Activities Related to Unrecognized Tax Benefits (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at January 1	$ 1.2	$ 1.2	$ 1.2
Increases as a result of tax positions taken in the current period	11.8	0	0.1
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions	(0.5)	0	0
Decreases due to lapse of statute of limitations	0	0	(0.1)
Balance at December 31	$ 12.5	$ 1.2	$ 1.2

Income Taxes - Additional Infor

Income Taxes - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax [Line Items]
Income tax expense	$ 45.6	$ 30.5	$ 17
Change in valuation allowance	(0.2)
Change excess tax benefits from stock compensation activity	$ 1.5	$ (3.2)
Effective income tax rate	22.50%	20.20%	14.50%
Income taxes paid	$ 46.2	$ 26.9	$ 35.5
Statutory federal income tax rate	21%	21%	21%
Deferred tax asset, state net operating loss carryforwards	$ 4.5	$ 5.4
Deferred tax asset, foreign net operating loss carryforwards	9.5	9.7
Deferred tax asset, state tax tax credit carryforwards		0.3
Deferred tax asset, U.S. foreign tax credits carryforwards		2.6
Total deferred tax assets	75.5	68.4
Valuation allowance	0.5	0.7
Tax Benefit from worthless stock deduction	13.6
Tax Benefit from worthless stock deduction, Interest	1.8
Accrual for interest and penalties	0.4	0.4
Reserves for unrecognized tax benefits, including interest and penalties	1.1	1.6
Unrecognized tax benefits	12.5	1.2	$ 1.2	$ 1.2
Tax Benefit From Remeasurement of Deferred Taxes For Changes in State Tax Apportionment		3.3
U.S. state
Income Tax [Line Items]
Change in valuation allowance		$ 3.4
U.S. federal
Income Tax [Line Items]
Change in valuation allowance	2.6
Foreign
Income Tax [Line Items]
Change in valuation allowance	$ 1.1

Pension and Other Post-Employ_3

Pension and Other Post-Employment Plans - Schedule of Net Periodic Pension (Benefit) Expense (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan Disclosure [Line Items]
Pension settlement charges	$ 0	$ 0	$ 10.3
U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Service cost	0	0	0
Interest cost	6.1	4.4	4.9
Expected return on plan assets	(7.5)	(6.9)	(9.6)
Amortization of prior service costs	0	0	0
Amortization of actuarial losses	1.3	2.3	3.9
Pension settlement charges	0	0	10.3
Net periodic pension (benefit) expense	(0.1)	(0.2)	9.5
Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Service cost	0.1	0.1	0.2
Interest cost	1.5	0.9	0.7
Expected return on plan assets	(2.1)	(2)	(2)
Amortization of prior service costs	0.1	0.1	0.2
Amortization of actuarial losses	1	0.6	0.8
Pension settlement charges	0	0	0
Net periodic pension (benefit) expense	$ 0.6	$ (0.3)	$ (0.1)

Pension and Other Post-Employ_4

Pension and Other Post-Employment Plans - Summary of Weighted-Average Actuarial Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
U.S. Benefit Plan
Schedule of Net Periodic Benefit Costs Weighted Average Assumptions [Line Items]
Discount rate	5.70%	3.10%	2.80%
Expected long-term rate of return on plan assets	7.20%	6.10%	7.40%
Non-U.S. Benefit Plan
Schedule of Net Periodic Benefit Costs Weighted Average Assumptions [Line Items]
Discount rate	4.80%	1.80%	1.30%
Expected long-term rate of return on plan assets	6.10%	4%	3.50%

Pension and Other Post-Employ_5

Pension and Other Post-Employment Plans - Summary of Changes in Projected Benefit Obligation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Defined Benefit Plan, Benefit Obligation, Payment for Settlement	$ (25)
U.S. Benefit Plan
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Benefit obligation, beginning of year	109	$ 142
Service cost	0	0	$ 0
Interest cost	6.1	4.4	4.9
Actuarial loss (gain)	4.5	(29)
Benefits and expenses paid	(8.1)	(8.4)
Foreign currency translation	0	0
Benefit obligation, end of year	111.5	109	142
Accumulated benefit obligation, end of year	111.5	109
Non-U.S. Benefit Plan
Defined Benefit Plan, Change in Benefit Obligation [Roll Forward]
Benefit obligation, beginning of year	32.4	52.8
Service cost	0.1	0.1	0.2
Interest cost	1.5	0.9	0.7
Actuarial loss (gain)	0.3	(13.4)
Benefits and expenses paid	(2.5)	(2.6)
Foreign currency translation	1.7	(5.4)
Benefit obligation, end of year	33.5	32.4	$ 52.8
Accumulated benefit obligation, end of year	$ 33.5	$ 32.4

Pension and Other Post-Employ_6

Pension and Other Post-Employment Plans - Summary of Weighted-Average Assumptions Used in Determining Benefit Obligations (Details)	Dec. 31, 2023	Dec. 31, 2022
U.S. Benefit Plan
Schedule of Net Periodic Benefit Costs Weighted Average Assumptions [Line Items]
Discount rate	5.40%	5.70%
Non-U.S. Benefit Plan
Schedule of Net Periodic Benefit Costs Weighted Average Assumptions [Line Items]
Discount rate	4.50%	4.80%

Pension and Other Post-Employ_7

Pension and Other Post-Employment Plans - Summary of Change in Plan Assets (Details) - USD ($) $ in Millions		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022
U.S. Benefit Plan
Change in Plan Assets
Fair value of plan assets, beginning of year		$ 87	$ 120.2
Actual return on plan assets	[1]	8.2	(24.8)
Company contribution		1.4	0
Benefits and expenses paid		(8.1)	(8.4)
Foreign currency translation		0	0
Fair value of plan assets, end of year		88.5	87
Fees, commissions and other expense paid from plan assets		1.4	1.5
Non-U.S. Benefit Plan
Change in Plan Assets
Fair value of plan assets, beginning of year		34.8	56.5
Actual return on plan assets		3.5	(14.2)
Company contribution		0.9	0.9
Benefits and expenses paid		(2.5)	(2.6)
Foreign currency translation		1.9	(5.8)
Fair value of plan assets, end of year		$ 38.6	$ 34.8

[1]Actual return (loss) on plan assets of the U.S. benefit plan for the years ended December 31, 2023 and 2022, was net of fees, commissions and other expenses paid from plan assets of $1.4 million and $1.5 million, respectively.

Pension and Other Post-Employ_8

Pension and Other Post-Employment Plans - Summary of Pension Assets in Three-Tier Fair Value Hierarchy for Benefit Plan (Details) - USD ($)		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Receivables		$ 800,000	$ 500,000
U.S. Benefit Plan
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		88,500,000	87,000,000	$ 120,200,000
U.S. Benefit Plan \| Total
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value	[1]	87,700,000	86,500,000
U.S. Benefit Plan \| Total \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		1,600,000	4,100,000
U.S. Benefit Plan \| Total \| US Large Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		12,100,000	10,900,000
U.S. Benefit Plan \| Total \| US Small and Mid Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		13,400,000	13,600,000
U.S. Benefit Plan \| Total \| Developed international
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		5,500,000	5,500,000
U.S. Benefit Plan \| Total \| Emerging markets
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,000,000	2,900,000
U.S. Benefit Plan \| Level 1
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		36,200,000	38,200,000
U.S. Benefit Plan \| Level 1 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		1,600,000	4,100,000
U.S. Benefit Plan \| Level 1 \| US Large Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		12,000,000	10,800,000
U.S. Benefit Plan \| Level 1 \| US Small and Mid Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		13,400,000	13,600,000
U.S. Benefit Plan \| Level 1 \| Developed international
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		5,200,000	4,800,000
U.S. Benefit Plan \| Level 1 \| Emerging markets
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		2,300,000	2,000,000
U.S. Benefit Plan \| Level 2
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		51,500,000	48,300,000
U.S. Benefit Plan \| Level 2 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 2 \| US Large Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		100,000	100,000
U.S. Benefit Plan \| Level 2 \| US Small and Mid Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 2 \| Developed international
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		300,000	700,000
U.S. Benefit Plan \| Level 2 \| Emerging markets
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		700,000	900,000
U.S. Benefit Plan \| Level 3
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 3 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 3 \| US Large Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 3 \| US Small and Mid Cap
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 3 \| Developed international
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
U.S. Benefit Plan \| Level 3 \| Emerging markets
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		38,600,000	34,800,000	$ 56,500,000
Non-U.S. Benefit Plan \| Total
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		38,600,000	34,800,000
Non-U.S. Benefit Plan \| Total \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		8,500,000	7,400,000
Non-U.S. Benefit Plan \| Total \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		4,400,000	4,000,000
Non-U.S. Benefit Plan \| Total \| Diversified investment funds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value	[2]	18,900,000	15,300,000
Non-U.S. Benefit Plan \| Total \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,700,000	4,100,000
Non-U.S. Benefit Plan \| Total \| Insurance-linked securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,100,000	4,000,000
Non-U.S. Benefit Plan \| Level 1
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		800,000	900,000
Non-U.S. Benefit Plan \| Level 1 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		800,000	900,000
Non-U.S. Benefit Plan \| Level 1 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 1 \| Diversified investment funds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value	[2]	0	0
Non-U.S. Benefit Plan \| Level 1 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 1 \| Insurance-linked securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 2
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		34,700,000	29,900,000
Non-U.S. Benefit Plan \| Level 2 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		7,700,000	6,500,000
Non-U.S. Benefit Plan \| Level 2 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		4,400,000	4,000,000
Non-U.S. Benefit Plan \| Level 2 \| Diversified investment funds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value	[2]	18,900,000	15,300,000
Non-U.S. Benefit Plan \| Level 2 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,700,000	4,100,000
Non-U.S. Benefit Plan \| Level 2 \| Insurance-linked securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 3
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,100,000	4,000,000
Non-U.S. Benefit Plan \| Level 3 \| Cash and cash equivalents
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 3 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 3 \| Diversified investment funds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value	[2]	0	0
Non-U.S. Benefit Plan \| Level 3 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Non-U.S. Benefit Plan \| Level 3 \| Insurance-linked securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		3,100,000	4,000,000
Fixed Income Securities \| U.S. Benefit Plan \| Total \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		1,700,000	2,900,000
Fixed Income Securities \| U.S. Benefit Plan \| Total \| Asset-backed securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		200,000	200,000
Fixed Income Securities \| U.S. Benefit Plan \| Total \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		50,200,000	46,400,000
Fixed Income Securities \| U.S. Benefit Plan \| Level 1 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		1,700,000	2,900,000
Fixed Income Securities \| U.S. Benefit Plan \| Level 1 \| Asset-backed securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Fixed Income Securities \| U.S. Benefit Plan \| Level 1 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Fixed Income Securities \| U.S. Benefit Plan \| Level 2 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Fixed Income Securities \| U.S. Benefit Plan \| Level 2 \| Asset-backed securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		200,000	200,000
Fixed Income Securities \| U.S. Benefit Plan \| Level 2 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		50,200,000	46,400,000
Fixed Income Securities \| U.S. Benefit Plan \| Level 3 \| Government securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Fixed Income Securities \| U.S. Benefit Plan \| Level 3 \| Asset-backed securities
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		0	0
Fixed Income Securities \| U.S. Benefit Plan \| Level 3 \| Corporate bonds
Fair Value Hierarchy Of Plan Assets By Category [Line Items]
Total assets at fair value		$ 0	$ 0

[1]Total assets at fair value in the table above exclude a net receivable of $0.8 million and $0.5 million at December 31, 2023 and 2022, respectively.[2]These funds primarily invest in a diversified portfolio of equity securities and fixed income securities.

Pension and Other Post-Employ_9

Pension and Other Post-Employment Plans - Summary of Funded Status (Details) - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
U.S. Benefit Plan
Funded Status of Plan
Fair value of plan assets, end of year	$ 88.5	$ 87	$ 120.2
Benefit obligation, end of year	111.5	109	142
Funded status, end of year	(23)	(22)
Non-U.S. Benefit Plan
Funded Status of Plan
Fair value of plan assets, end of year	38.6	34.8	56.5
Benefit obligation, end of year	33.5	32.4	$ 52.8
Funded status, end of year	$ 5.1	$ 2.4

Pension and Other Post-Emplo_10

Pension and Other Post-Employment Plans - Schedule of Amounts Recognized in Consolidated Balance Sheet (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
U.S. Benefit Plan
Amounts recognized in our Consolidated Balance Sheets include:
Deferred charges and other long-term assets	$ 0	$ 0
Long-term pension and other post-retirement benefit liabilities	(23)	(22)
Net (liability) asset recorded	(23)	(22)
Amounts recognized In Accumulated other comprehensive loss include:
Actuarial losses	60.7	58.1
Prior service costs	0	0
Net amount recognized, pre-tax	60.7	58.1
Non-U.S. Benefit Plan
Amounts recognized in our Consolidated Balance Sheets include:
Deferred charges and other long-term assets	5.1	2.4
Long-term pension and other post-retirement benefit liabilities	0	0
Net (liability) asset recorded	5.1	2.4
Amounts recognized In Accumulated other comprehensive loss include:
Actuarial losses	16.1	17.3
Prior service costs	2	2
Net amount recognized, pre-tax	$ 18.1	$ 19.3

Pension and Other Post-Emplo_11

Pension and Other Post-Employment Plans - Schedule of Expected Benefit Payments (Details) $ in Millions	Dec. 31, 2023 USD ($)
U.S. Benefit Plan
Expected Payments For Defined Benefit Plans
2024	$ 8.4
2025	8.7
2026	8.7
2027	8.9
2028	8.8
2029-2033	42.9
Non-U.S. Benefit Plan
Expected Payments For Defined Benefit Plans
2024	2.5
2025	2.6
2026	2.5
2027	2.5
2028	2.5
2029-2033	$ 11.4

Pension and Other Post-Emplo_12

Pension and Other Post-Employment Plans - Additional Information (Details) $ in Millions		12 Months Ended
	Nov. 05, 2021 retireesAndBeneficiaries	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Defined Benefit Plan Disclosure [Line Items]
Number of company sponsored defined benefit pension plans		2
Pension settlement charges		$ 0	$ 0	$ 10.3
Cost of defined contribution pension plans		11.4	9.9	8.9
Deferred compensation liability		19.9	15.3
Defined benefit plan responsibility transferred number of retirees and beneficiaries \| retireesAndBeneficiaries	800
U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Pension settlement charges		$ 0	$ 0	$ 10.3
Weighted-average target return of pension plans		7.20%	6.10%	7.40%
Expected contribution to defined benefit plan		$ 5
Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Pension settlement charges		$ 0	$ 0	$ 0
Weighted-average target return of pension plans		6.10%	4%	3.50%
Expected amortization of actuarial loss in next fiscal year		$ 2.9
Expected amortization of prior service cost in next fiscal year		0.1
Expected contribution to defined benefit plan		$ 0.2
Maximum \| Equity Securities \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		44%
Maximum \| Equity Securities \| Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		35%
Maximum \| Fixed Income Securities \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		69%
Maximum \| Cash and cash equivalents \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		20%
Maximum \| Debt Securities \| Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		75%
Minimum \| Equity Securities \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		29%
Minimum \| Equity Securities \| Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		25%
Minimum \| Fixed Income Securities \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		54%
Minimum \| Cash and cash equivalents \| U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		0%
Minimum \| Debt Securities \| Non-U.S. Benefit Plan
Defined Benefit Plan Disclosure [Line Items]
Target asset allocation		65%

Commitments and Contingencies -

Commitments and Contingencies - Changes in Company's Warranty Liabilities (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Movement in Standard Product Warranty Accrual [Roll Forward]
Balance at January 1	$ 9.3	$ 9.7
Provisions to expense	7.9	6.8
Acquisitions	0.1	0
Payments	(7.7)	(7.2)
Balance at December 31	$ 9.6	$ 9.3

Commitments and Contingencies_2

Commitments and Contingencies - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Commitments Disclosure [Line Items]
Amount outstanding performance and financial standby letters of credit	$ 21.2
Minimum
Commitments Disclosure [Line Items]
Warranty period	1 year
Maximum
Commitments Disclosure [Line Items]
Warranty period	5 years
Property Lease Guarantee
Commitments Disclosure [Line Items]
Repurchase obligation, single year potential cash payments	$ 1.5
Repurchase obligation, maximum potential cash payments	1.5
Property Lease Guarantee \| Affiliated entity
Commitments Disclosure [Line Items]
Repurchase obligation, maximum potential cash payments	$ 0.9

Legal Proceedings - Additional

Legal Proceedings - Additional Information (Details)

1 Months Ended

4 Months Ended

5 Months Ended

6 Months Ended

7 Months Ended

12 Months Ended

36 Months Ended

180 Months Ended

Dec. 20, 2021 USD ($) Plaintiff

Apr. 25, 2017 USD ($)

Feb. 24, 2017 Plaintiff

Sep. 17, 2014 Case Plaintiff

Nov. 30, 2012 Plaintiff

Apr. 29, 2011 USD ($)

Apr. 22, 2011 USD ($) Plaintiff

Mar. 31, 2018 USD ($) Plaintiff

Nov. 30, 2017 Plaintiff

Aug. 31, 2017 Plaintiff

May 31, 2016 Plaintiff

Nov. 30, 2015 Plaintiff

Jan. 31, 2015 case

Jan. 31, 2015 Plaintiff

Jan. 31, 2015 Case

Dec. 31, 2014 Plaintiff

Mar. 31, 2014 Plaintiff

Dec. 31, 2012 Plaintiff

Nov. 30, 2011 Plaintiff

Jul. 31, 2013 Plaintiff

Dec. 31, 2015 Plaintiff case

Oct. 31, 2016 Plaintiff Case

Oct. 31, 2012 Plaintiff case

Dec. 31, 2017 USD ($) Plaintiff

Dec. 31, 2010 USD ($) Plaintiff case

Dec. 31, 2009 USD ($) Plaintiff

Dec. 31, 2008 Plaintiff

Dec. 31, 2009 case Plaintiff

Dec. 31, 2013 case Plaintiff

Jan. 04, 2011 Plaintiff

Loss Contingencies

Number of plaintiffs

921

Settlement offer per eligible plaintiff who has already filed a lawsuit | $

$ 700

Settlement offer per eligible plaintiff who has not already filed a lawsuit | $

$ 300

Number of firefighters considered as part of the settlement

2,160

Number of plaintiffs cases dismissed

Loss Contingency, Settlement [Abstract]

Litigation Settlement, Amount Awarded from Other Party | $

$ 100,000

Chicago Firefighter Plaintiffs

Loss Contingencies

Number of plaintiffs

1,770

Responsive Settlement Candidates

Loss Contingencies

Number of plaintiffs

717

SettlementCandidates [Domain]

Loss Contingencies

Number of plaintiffs

462

1,090

Settlement Agreement

Loss Contingencies

Number of plaintiffs

1,069

Hearing loss settlement | $

$ 3,800,000

Litigation settlement, amount awarded to other party | $

$ 3,600,000

Circuit Court Of Cook County

Loss Contingencies

Number of plaintiffs

2,816

Number of new claims filed | case

Number of claims settled and dismissed

Court Of Common Pleas Philadelphia County

Loss Contingencies

Damages maximum amount | $

$ 100,000

Number of claimants settled

1,125

Number of claims dismissed | case

Number of claims settled and dismissed | case

Erie County Firefighter Plaintiffs | Court Of Common Pleas Philadelphia County

Loss Contingencies

Number of plaintiffs

District of Columbia Firefighter Plaintiffs | Federal Court, Eastern District of Pennsylvania

Loss Contingencies

Number of plaintiffs

193

Number of new claims filed | case

Outside Chicago Firefighter Plaintiffs | CookCountyandDupageCounty

Loss Contingencies

Litigation settlement, amount awarded to other party | $

$ 200,000

Lackawanna Firefighter Plaintiffs | Lackawanna County Pennsylvania

Loss Contingencies

Number of plaintiffs

Number of new claims filed

Florida Firefighters Plaintiffs

Loss Contingencies

Number of plaintiffs

1,084

Chicago Firefighter Plaintiffs

Loss Contingencies

Number of plaintiffs

Chicago Firefighter Plaintiffs | Circuit Court Of Cook County

Loss Contingencies

Number of plaintiffs

Litigation settlement, amount awarded to other party | $

$ 700

$ 400,000

New Jersey Firefighter Plaintiffs | Superior Court of New Jersey, Union County

Loss Contingencies

Number of plaintiffs

Philadelphia Firefighter Plaintiffs | Court Of Common Pleas Philadelphia County

Loss Contingencies

Number of plaintiffs

155

Number of new claims filed | case

Number of claims dismissed | case

New York City Firefighter Plaintiffs | Lackawanna County Pennsylvania

Loss Contingencies

Number of plaintiffs

Pittsburgh Firefighter Plaintiffs | Allegheny County Pennsylvania

Loss Contingencies

Number of plaintiffs

247

Number of new claims filed

Number of claims dismissed

New Jersey Firefighter Plaintiffs

Loss Contingencies

Number of plaintiffs

194

Number of new claims filed | Case

Buffalo Firefighter Plaintiffs | Supreme Court of State of New York Erie County

Loss Contingencies

Number of plaintiffs

193

Number of new claims filed | Case

Earnings Per Share - Computatio

Earnings Per Share - Computation of Earnings (Loss) Per Common Share (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Earnings Per Share [Abstract]
Net income	$ 157.4	$ 120.4	$ 100.6
Weighted average shares outstanding - basic (shares)	60.7	60.5	60.8
Dilutive effect of common stock equivalents (shares)	0.8	0.7	1.1
Weighted average shares outstanding - Diluted (shares)	61.5	61.2	61.9
Basic earnings per share:
Net earnings per share (usd per share)	$ 2.59	$ 1.99	$ 1.65
Diluted earnings per share:
Net earnings per share (usd per share)	$ 2.56	$ 1.97	$ 1.63

Earnings Per Share - Additional

Earnings Per Share - Additional Information (Details) - shares shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options
Earnings Per Share [Line Items]
Anti-dilutive securities excluded from the calculation of diluted EPS	0.1	0.3	0.2

Stock-Based Compensation - Assu

Stock-Based Compensation - Assumptions Used to Estimate Fair Value (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividend yield	0.80%	1%	0.80%
Expected volatility	32.70%	32.70%	33%
Risk free interest rate	3.30%	3%	1.10%
Weighted average expected option life in years	5 years 7 months 6 days	6 years 10 months 24 days	6 years 4 months 24 days
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Dividend yield	0.80%	1%
Expected volatility	29.80%	34.40%
Risk free interest rate	3.60%	2.80%
Correlation Between TSR for the Company and the S&P 600 Capital Goods Index	48%	52.30%
Risk free interest rate S&P 600 Capital Goods Index	3.60%	2.80%
Expected volatility S&P 600 Capital Goods Index	44.40%	50.50%

Stock-Based Compensation - Stoc

Stock-Based Compensation - Stock Option Activity (Details) - $ / shares shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Option Shares
Outstanding at beginning of year (shares)	1.2	1.4	2
Granted (shares)	0.1	0.2	0.2
Exercised (shares)	(0.3)	(0.4)	(0.8)
Canceled or expired (shares)	0	0	0
Outstanding at end of year (shares)	1	1.2	1.4
Exercisable at end of year (shares)	0.7	0.8	1
Weighted Average Exercise Price
Outstanding at beginning of year (usd per share)	$ 27.40	$ 23.58	$ 17.52
Granted (usd per share)	51.81	35.80	42.84
Exercised (usd per share)	23.70	16.09	12.12
Canceled or expired (usd per share)	41.45	33.89	30.76
Outstanding at end of year (usd per share)	31.65	27.40	23.58
Exercisable at end of year (usd per share)	$ 26.35	$ 23.60	$ 19.15

Stock-Based Compensation - Summ

Stock-Based Compensation - Summary of Stock Options Outstanding (Details) - $ / shares shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Options Outstanding, Shares	1	1.2	1.4	2
Options Outstanding, Weighted Average Remaining Life	6 years
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 31.65	$ 27.40	$ 23.58	$ 17.52
Options Exercisable, Shares	0.7	0.8	1
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 26.35	$ 23.60	$ 19.15
$10.01 — 15.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	10.01
Range upper (usd per share)	$ 15
Options Outstanding, Shares	0.1
Options Outstanding, Weighted Average Remaining Life	2 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 12.77
Options Exercisable, Shares	0.1
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 12.77
15.01 — 20.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	15.01
Range upper (usd per share)	$ 20
Options Outstanding, Shares	0.1
Options Outstanding, Weighted Average Remaining Life	2 years 9 months 18 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 16.85
Options Exercisable, Shares	0.1
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 16.85
20.01 — 25.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	20.01
Range upper (usd per share)	$ 25
Options Outstanding, Shares	0.1
Options Outstanding, Weighted Average Remaining Life	4 years 1 month 6 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 23.14
Options Exercisable, Shares	0.1
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 23.14
25.01 — 30.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	25.01
Range upper (usd per share)	$ 30
Options Outstanding, Shares	0.3
Options Outstanding, Weighted Average Remaining Life	5 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 27.58
Options Exercisable, Shares	0.3
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 27.58
35.01 — 40.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	35.01
Range upper (usd per share)	$ 40
Options Outstanding, Shares	0.2
Options Outstanding, Weighted Average Remaining Life	8 years 1 month 6 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 35.80
Options Exercisable, Shares	0
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 35.80
40.01 — 45.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	40.01
Range upper (usd per share)	$ 45
Options Outstanding, Shares	0.1
Options Outstanding, Weighted Average Remaining Life	7 years 1 month 6 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 42.86
Options Exercisable, Shares	0.1
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 42.86
50.01 — 55.00
Schedule Of Share Based Compensation Arrangement By Share Based Payment Award Options Outstanding By Exercise Price [Line Items]
Range lower (usd per share)	50.01
Range upper (usd per share)	$ 55
Options Outstanding, Shares	0.1
Options Outstanding, Weighted Average Remaining Life	9 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price (usd per share)	$ 51.81
Options Exercisable, Shares	0
Options Exercisable, Weighted Average Exercise Price (usd per share)	$ 0

Stock-Based Compensation - Su_2

Stock-Based Compensation - Summary of Restricted Stock Grants and PSUs (Details) shares in Millions	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Restricted Stock
Number of Restricted Shares
Outstanding and non-vested, at December 31, 2022 \| shares	0.3
Granted \| shares	0
Vested \| shares	(0.1)
Forfeited \| shares	0
Outstanding and non-vested, at December 31, 2023 \| shares	0.2
Weighted Average Price per Share
Outstanding and non-vested, at December 31, 2022 \| $ / shares	$ 34.93
Granted \| $ / shares	52.76
Vested \| $ / shares	30.44
Forfeited \| $ / shares	39.23
Outstanding and non-vested, at December 31, 2023 \| $ / shares	$ 43.03
PSUs
Number of Restricted Shares
Outstanding and non-vested, at December 31, 2022 \| shares	0.2
Granted \| shares	0.1
Vested \| shares	(0.1)
Forfeited \| shares	0
Outstanding and non-vested, at December 31, 2023 \| shares	0.2
Weighted Average Price per Share
Outstanding and non-vested, at December 31, 2022 \| $ / shares	$ 39.83
Granted \| $ / shares	51.31
Vested \| $ / shares	42.85
Forfeited \| $ / shares	42.19
Outstanding and non-vested, at December 31, 2023 \| $ / shares	$ 44.23

Stock-Based Compensation - Addi

Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized under stock compensation plan	11
Shares available for grant under stock compensation plan	4.7
Share-based compensation expense	$ 13.1	$ 10.2	$ 7.6
Tax benefit from share-based compensation expense	$ 2	$ 1.9	$ 1.5
Vesting period	3 years
Weighted average fair value of options granted (usd per share)	$ 17.44	$ 12.64	$ 13.54
Stock options, vested and expected to vest, outstanding (shares)	1
Stock options, vested and expected to vest, weighted average exercise price (usd per share)	$ 31.53
Exercisable at end of year (shares)	0.7	0.8	1
Stock options, expected to vest (shares)	0.3
Stock options outstanding, aggregate intrinsic value	$ 47.4
Stock options exercisable, aggregate intrinsic value	37.3
Stock options exercised during the period, total intrinsic value	9.9	$ 9.7	$ 22.7
Tax benefit from stock options exercised	2.4	2.5	5.7
Proceeds from stock compensation activity	3.9	0.2	4.2
Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	2.2	2.1	2
Unrecognized compensation cost	$ 3.1
Weighted-average recognition period for unrecognized compensation cost	1 year 10 months 24 days
Restricted Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	$ 4.3	3.8	2.6
Unrecognized compensation cost	$ 3.6
Weighted-average recognition period for unrecognized compensation cost	1 year 9 months 18 days
Grant-date fair value of awards vested	$ 3.5	2.1	1.9
PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Compensation expense related to share-based compensation plans	6.6	4.3	3
Unrecognized compensation cost, performance share units	$ 5.6
Weighted-average recognition period for unrecognized compensation cost	1 year 7 months 6 days
Grant-date fair value of awards vested	$ 4.6	$ 4	$ 2.6
Minimum \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	0%
Maximum \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage	200%
Vesting Percentage with TSR Modifier	240%
Performance-based Restricted Stock Units, 2022 Grants [Member] \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Performance-based Restricted Stock Units, 2021 Grants [Member] \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Performance-based Restricted Stock Units, 2020 Grants \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance share units performance period	3 years
Vesting percentage	132%

Stockholders' Equity - Change i

Stockholders' Equity - Change in Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ (84)
Net current-period other comprehensive income (loss)	2.7	$ (9.8)	$ 17.5
Ending balance	(81.3)	(84)
Actuarial Losses
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(68.6)	(67.9)
Other comprehensive income (loss) before reclassifications	(2.8)	(2.9)
Amounts reclassified from accumulated other comprehensive loss	1.7	2.2
Net current-period other comprehensive income (loss)	(1.1)	(0.7)
Ending balance	(69.7)	(68.6)	(67.9)
Prior Service Costs
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(2)	(2.4)
Other comprehensive income (loss) before reclassifications	(0.1)	0.3
Amounts reclassified from accumulated other comprehensive loss	0.1	0.1
Net current-period other comprehensive income (loss)	0	0.4
Ending balance	(2)	(2)	(2.4)
Foreign Currency Translation
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(16)	(3.4)
Other comprehensive income (loss) before reclassifications	5.9	(12.6)
Amounts reclassified from accumulated other comprehensive loss	0	0
Net current-period other comprehensive income (loss)	5.9	(12.6)
Ending balance	(10.1)	(16)	(3.4)
Interest Rate Swaps
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	2.6	(0.5)
Other comprehensive income (loss) before reclassifications	0.3	2.9
Amounts reclassified from accumulated other comprehensive loss	(2.4)	0.2
Net current-period other comprehensive income (loss)	(2.1)	3.1
Ending balance	0.5	2.6	(0.5)
Accumulated Other Comprehensive Loss
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(84)	(74.2)
Other comprehensive income (loss) before reclassifications	3.3	(12.3)
Amounts reclassified from accumulated other comprehensive loss	(0.6)	2.5
Net current-period other comprehensive income (loss)	2.7	(9.8)	17.5
Ending balance	$ (81.3)	$ (84)	$ (74.2)

Stockholders' Equity - Reclassi

Stockholders' Equity - Reclassifications from Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Reclassification Adjustment out of Accumulated Other Comprehensive Income [Line Items]
Amortization of actuarial losses of defined benefit pension plans	$ (2.3)	$ (2.9)
Amortization of prior service costs of defined benefit pension plans	(0.1)	(0.1)
Interest rate swaps	3.2	(0.2)
Total before tax	0.8	(3.2)
Income tax (expense) benefit	(0.2)	0.7
Total reclassifications for the period, net of tax	$ 0.6	$ (2.5)

Stockholders' Equity - Addition

Stockholders' Equity - Additional Information (Details) - USD ($)	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Mar. 31, 2020
Class of Stock [Line Items]
Common stock, shares authorized		90,000,000
Common stock, par value (usd per share)		$ 1
Common stock, shares issued		70,000,000	69,500,000
Common stock, shares outstanding		61,000,000	60,700,000
Preference stock, shares authorized		800,000
Preference stock, par value (usd per share)		$ 1
Cash dividends declared per common share (usd per share)		$ 0.39	$ 0.36	$ 0.36
Shares acquired		93,551	472,381	361,804
Purchases of treasury stock		$ 5,500,000	$ 16,100,000	$ 15,400,000
Cash dividends paid to stockholders		$ 23,800,000	$ 21,800,000	$ 22,000,000
Subsequent Event
Class of Stock [Line Items]
Cash dividends declared per common share (usd per share)	$ 0.12
March 2020 Repurchase Program
Class of Stock [Line Items]
Share repurchase program, authorized amount					$ 75,000,000

Segment Information - Summary o

Segment Information - Summary of Continuing Operations by Segment (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Net sales	$ 1,722.7	$ 1,434.8	$ 1,213.2
Operating income	224.5	160.8	130.7
Interest expense, net	19.7	10.3	4.5
Debt settlement charges		0.1
Pension settlement charges	0	0	10.3
Other expense (income), net	1.8	(0.4)	(1.7)
Income before income taxes	203	150.9	117.6
Total depreciation and amortization	60.4	54.7	50.4
Total assets	1,620.5	1,524.3	1,366.1
Segment, Expenditure, Addition to Long-Lived Assets	30.3	53	37.4
Environmental Solutions
Segment Reporting Information [Line Items]
Net sales	1,437.9	1,190.6	1,004
Operating income	209.2	144.5	120.5
Total depreciation and amortization	56	50.3	46.7
Total assets	1,290.9	1,206.4	1,098.2
Segment, Expenditure, Addition to Long-Lived Assets	23	19.4	34.3
Safety And Security Systems
Segment Reporting Information [Line Items]
Net sales	284.8	244.2	209.2
Operating income	54.8	40.8	32.7
Total depreciation and amortization	4.2	4.2	3.6
Total assets	288.1	279.3	226.9
Segment, Expenditure, Addition to Long-Lived Assets	5.2	32.4	2.8
Corporate
Segment Reporting Information [Line Items]
Operating income	(39.5)	(24.5)	(22.5)
Total depreciation and amortization	0.2	0.2	0.1
Total assets	41.5	38.6	41
Segment, Expenditure, Addition to Long-Lived Assets	$ 2.1	$ 1.2	$ 0.3

Segment Information - Segment I

Segment Information - Segment Information Classified Based on Geographic Location (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Net sales	$ 1,722.7	$ 1,434.8	$ 1,213.2
Long-lived assets	346.6	313.1	280.1
U.S.
Segment Reporting Information [Line Items]
Net sales	1,337.4	1,149.8	926.8
Long-lived assets	261.6	249.4	219.9
Canada
Segment Reporting Information [Line Items]
Net sales	237.8	175.3	192.4
Long-lived assets	80.7	59.1	56.3
Europe/Other
Segment Reporting Information [Line Items]
Net sales	147.5	109.7	94
Long-lived assets	$ 4.3	$ 4.6	$ 3.9

Segment Information - Additiona

Segment Information - Additional Information (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) Segment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Segment Reporting Information [Line Items]
Number of reportable segments \| Segment	2
Net sales	$ 1,722.7	$ 1,434.8	$ 1,213.2
Non-US
Segment Reporting Information [Line Items]
Net sales	385.3	285	286.4
Exports From U.S. To Other Regions
Segment Reporting Information [Line Items]
Net sales	$ 136	88.8	77
Environmental Solutions
Segment Reporting Information [Line Items]
Number of operating segments \| Segment	2
Net sales	$ 1,437.9	$ 1,190.6	$ 1,004

Fair Value Measurements - Asset

Fair Value Measurements - Assets and Liabilities at Fair Value (Details) - Fair Value, Measurements, Recurring - USD ($) $ in Millions	Dec. 31, 2023	Dec. 31, 2022
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Cash equivalents	$ 20.5	$ 0.2
Contingent consideration	4.9	2.7
Interest rate swaps	0.7	0.3
Fair Value, Inputs, Level 1
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Cash equivalents	20.5	0.2
Contingent consideration	0	0
Interest rate swaps	0	0
Fair Value, Inputs, Level 2
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Cash equivalents	0	0
Contingent consideration	0	0
Interest rate swaps	0.7	0.3
Fair Value, Inputs, Level 3
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Cash equivalents	0	0
Contingent consideration	4.9	2.7
Interest rate swaps	$ 0	$ 0

Fair Value Measurements - Unobs

Fair Value Measurements - Unobservable Input Reconciliation (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation, Calculation [Roll Forward]
Contingent consideration liability, at January 1	$ 2.7	$ 2.7
Issuance of contingent consideration in connection with acquisitions	4.8	0
Settlements of contingent consideration liabilities	(0.5)	0
Total losses included in earnings	(2.1)	0
Contingent consideration liability, at December 31	$ 4.9	$ 2.7
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Acquisition and integration-related expenses (benefits), net	Acquisition and integration-related expenses (benefits), net

Fair Value Measurements - Addit

Fair Value Measurements - Additional Information (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 30, 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Settlements of contingent consideration liabilities	$ 0.5	$ 0
Deist
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Contingent consideration maximum			$ 7.5

Subsequent Events (Details)

Subsequent Events (Details)	Apr. 03, 2023 CAD ($)	Apr. 03, 2023 USD ($)	Jan. 03, 2023 USD ($)	Apr. 03, 2023 USD ($)
Blasters
Subsequent Event [Line Items]
Purchase price, subject to post-closing adjustments			$ 13,000,000
Contingent consideration maximum			$ 8,000,000
Trackless
Subsequent Event [Line Items]
Purchase price, subject to post-closing adjustments	$ 56,300,000	$ 41,900,000
Contingent consideration maximum	$ 6,000,000			$ 4,500,000