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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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- Definition

Amount, after accumulated amortization and accumulated impairment loss, of asset recognized from cost incurred to obtain or fulfill contract with customer.

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For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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