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Warranties - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2018
Product Warranty Liability [Line Items]      
Warranty costs $ 57.9 $ 54.9 $ 57.0
Changes in liability for pre-existing warranties, net 14.8 $ (0.8)  
Defense Segment      
Product Warranty Liability [Line Items]      
Changes in liability for pre-existing warranties, net $ 12.3    
Minimum      
Product Warranty Liability [Line Items]      
Product warranty term 6 months    
Maximum      
Product Warranty Liability [Line Items]      
Product warranty term 5 years