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Business Segment Information - Schedule of Income (Loss) from Continuing Operations by Product Lines and Reportable Segments (Details) - USD ($)
$ in Millions
 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2019
Operating income (loss):      
Operating income (loss) $ 544.7 $ 488.7 $ 797.0
Interest expense, net of interest income [1] (44.7) (51.8) (47.6)
Miscellaneous other (expense) income [2] (2.1) 2.2 1.3
Income before income taxes and losses of unconsolidated affiliates 497.9 439.1 750.7
Commercial      
Operating income (loss):      
Miscellaneous other (expense) income   6.2  
Operating Segments | Access Equipment      
Operating income (loss):      
Operating income (loss) [3] 249.1 198.6 502.6
Operating Segments | Defense      
Operating income (loss):      
Operating income (loss) [4],[5] 197.8 188.1 207.8
Operating Segments | Fire & Emergency      
Operating income (loss):      
Operating income (loss) [5],[6] 174.2 146.5 172.0
Operating Segments | Commercial      
Operating income (loss):      
Operating income (loss) [7] 71.0 81.2 66.8
Corporate, Non-segment      
Operating income (loss):      
Operating income (loss) [8] $ (147.4) $ (125.7) $ (152.2)
[1] Fiscal 2020 results include $8.5 million in debt extinguishment costs and $3.3 million of interest income from an arbitration settlement in the Defense segment.
[2] Fiscal 2020 results include a $6.2 million gain from insurance proceeds in excess of property loss in the Commercial segment.
[3] Fiscal 2021 results include $3.1 million of restructuring costs and $7.4 million operating expenses related to restructuring plans. Fiscal 2020 results include $10.4 million of restructuring costs and $4.7 million operating expenses related to restructuring plans.
[4] Fiscal 2021 results include $1.0 million of acquisition related costs. Fiscal 2020 results include reimbursement of $0.9 million of legal costs associated with an arbitration settlement.
[5] Results for fiscal 2020 and fiscal 2019 have been reclassified to reflect the move of the airport snow removal vehicle business from the Fire & Emergency segment to the Defense segment.
[6] Fiscal 2020 includes $1.4 million of restructuring costs.
[7] Fiscal 2020 results include $1.5 million of restructuring costs, $4.1 million of accelerated depreciation related to restructuring actions, a gain of $12.3 million arising from a business interruption insurance recovery and a gain on the sale of a business of $3.1 million.
[8] Fiscal 2021 includes a $0.4 million benefit from restructuring activities. Fiscal 2020 includes $1.1 million of restructuring costs.