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Revenue Recognition - Disaggregation of Revenue (Details) - USD ($)
$ in Millions
 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2019
Disaggregation Of Revenue [Line Items]      
Net sales $ 7,737.3 $ 6,856.8 $ 8,382.0
Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales (24.6) (34.6) [1],[2] (28.1) [1]
Transferred at Point in Time      
Disaggregation Of Revenue [Line Items]      
Net sales 4,764.0 4,078.1 5,801.1
Transferred at Point in Time | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales (25.1) (36.0) [2] (30.1)
Transferred over Time      
Disaggregation Of Revenue [Line Items]      
Net sales 2,973.3 2,778.7 2,580.9
Transferred over Time | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales 0.5 1.4 [2] 2.0
Access Equipment      
Disaggregation Of Revenue [Line Items]      
Net sales 3,067.3 2,505.7 4,079.7
Access Equipment | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 3,072.1 2,515.1 4,079.7
Access Equipment | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales 4.8 9.4  
Access Equipment | Transferred at Point in Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 3,006.9 2,437.5 4,001.6
Access Equipment | Transferred over Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 65.2 77.6 78.1
Defense      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 2,524.1 2,300.4 2,085.7
Defense | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 2,525.6 2,311.5 [2] 2,097.5 [2]
Defense | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 1.5 11.1 11.8
Defense | Transferred at Point in Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 43.5 34.8 [2] 45.4 [2]
Defense | Transferred over Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 2,482.1 2,276.7 [2] 2,052.1 [2]
Fire & Emergency      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 1,211.6 1,098.0 1,194.4
Fire & Emergency | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 1,226.6 1,107.0 [2] 1,210.7 [2]
Fire & Emergency | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales [1] 15.0 9.0 16.3
Fire & Emergency | Transferred at Point in Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 1,205.9 1,085.1 [2] 1,192.5 [2]
Fire & Emergency | Transferred over Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 20.7 21.9 [2] 18.2 [2]
Commercial      
Disaggregation Of Revenue [Line Items]      
Net sales 933.6 951.3 1,020.1
Commercial | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 937.6 957.8 1,022.2
Commercial | Intersegment Eliminations      
Disaggregation Of Revenue [Line Items]      
Net sales 4.0 6.5 2.1
Commercial | Transferred at Point in Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales 532.8 556.7 591.7
Commercial | Transferred over Time | Operating Segments      
Disaggregation Of Revenue [Line Items]      
Net sales $ 404.8 $ 401.1 $ 430.5
[1] 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.
[2] Results have been reclassified to reflect the move of the airport snow removal vehicle business from the Fire & Emergency segment to the Defense segment.