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Revenue Recognition - Schedule of Classification of Service-type Warranties in Consolidated Balance Sheets (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Extended Product Warranty Accrual Balance Sheet Classification [Abstract]        
Service-type warranties, other current liabilities $ 24.4 $ 24.7    
Service-type warranties, other long-term liabilities 38.6 39.7    
Service-type warranties $ 63.0 $ 64.4 $ 67.2 $ 68.2