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Revenue Recognition - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Sep. 30, 2019
Disaggregation Of Revenue [Line Items]          
Contract with Customer, Liability $ 628.8   $ 628.8   $ 512.5
Customer advances 518.4   518.4   382.0
Contract with customer other current liability 60.1   60.1   78.2
Contract with Customer, Liability, Noncurrent 50.3   50.3   $ 52.3
Contract with Customer, Liability, Revenue Recognized 102.2 $ 248.1 392.8 $ 721.5  
Fire and Emergency          
Disaggregation Of Revenue [Line Items]          
Interest Expense, Customer Deposits $ 4.5 $ 3.9 $ 11.7 $ 11.2