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Unaudited Quarterly Results - Schedule of Unaudited Quarterly Results (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 12 Months Ended
Sep. 30, 2020
 [1]
Jun. 30, 2020
 [2]
Mar. 31, 2020
 [3]
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2018
 [4]
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2018
Quarterly Financial Information Disclosure [Abstract]                      
Net sales $ 1,784.2 $ 1,580.8 $ 1,796.7 $ 1,695.1 $ 2,195.7 $ 2,392.7 $ 1,990.2 $ 1,803.4 $ 6,856.8 $ 8,382.0 $ 7,705.5
Gross income 280.9 257.5 292.4 289.5 397.3 433.9 357.9 328.3 1,120.3 1,517.4 1,358.6
Operating income 127.4 118.6 133.6 109.1 203.1 257.8 175.6 160.5 488.7 797.0 656.0
Net income $ 100.0 $ 80.2 $ 68.6 $ 75.7 $ 150.0 $ 191.9 $ 128.5 $ 109.0 $ 324.5 $ 579.4 $ 471.9
Earnings per share:                      
Basic $ 1.47 $ 1.18 $ 1.00 $ 1.11 $ 2.20 $ 2.74 $ 1.84 $ 1.53      
Diluted 1.46 1.17 0.99 1.10 2.17 2.72 1.82 1.51      
Common Stock per share dividends $ 0.30 $ 0.30 $ 0.30 $ 0.30 $ 0.27 $ 0.27 $ 0.27 $ 0.27 $ 1.20 $ 1.08 $ 0.96
[1]

The fourth quarter of fiscal 2020 was impacted by restructuring-related charges of $13.0 million ($9.5 million, net of tax) in the Access Equipment, Fire & Emergency and Commercial segments and Corporate, a gain of $4.2 million ($3.2 million, net of tax) for an arbitration settlement in the Defense segment, business interruption insurance proceeds of $18.5 million ($14.2 million, net of tax) in the Commercial segment and a gain on the sale of a business of $3.1 million ($2.8 million net of tax) in the Commercial segment.
[2]

The third quarter of fiscal 2020 was impacted by restructuring charges of $10.2 million ($8.4 million, net of tax) in the Access Equipment, Fire & Emergency and Commercial segments.
[3]

The second quarter of fiscal 2020 was impacted by debt extinguishment costs of $8.5 million ($6.5 million, net of tax) and a tax charge of $11.4 million related to the establishment of a valuation allowance on net operating losses for an entity in Europe.
[4] The first quarter of fiscal 2019 was impacted by tax expense related to tax reform in the U.S. of $7.0 million.