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Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2019
Deferred Contract Related Costs | Other Long -term Assets |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Deferred contract related costs | $ 50.6 |  |
Anticipated Contracts Costs | Other Long -term Assets |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Deferred contract related costs | 4.8 |  |
Engineering Costs | Other Long -term Assets |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Deferred contract related costs | 42.3 |  |
Setup Costs | Other Long -term Assets |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Deferred contract related costs | 2.2 |  |
Tooling | Other Long -term Assets |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Deferred contract related costs | 1.3 |  |
Fire & Emergency |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Interest Expense, Customer Deposits | $ 17.2 | $ 15.6 | $ 14.5
Customer Concentration Risk | Sales Revenue, Net | Defense | DoD |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Concentration Risk, Percentage | 95.00% | 96.00% | 94.00%

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