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Revenue Recognition - Disaggregation of Revenue (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Mar. 31, 2021
Mar. 31, 2020
Disaggregation Of Revenue [Line Items]        
Net sales $ 1,889.0 $ 1,796.7 $ 3,465.5 $ 3,491.8
Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales (6.4) (6.3) [1] (13.5) (10.6) [1]
Transferred at Point in Time        
Disaggregation Of Revenue [Line Items]        
Net sales 1,158.5 1,027.8 2,102.7 2,092.0
Transferred at Point in Time | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales (7.0) (7.0) (14.2) (11.9)
Transferred over Time        
Disaggregation Of Revenue [Line Items]        
Net sales 730.5 768.9 1,362.8 1,399.8
Transferred over Time | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales 0.6 0.7 0.7 1.3
Access Equipment        
Disaggregation Of Revenue [Line Items]        
Net sales 736.6 693.0 1,299.0 1,410.9
Access Equipment | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 738.2 693.0 1,301.9 1,410.9
Access Equipment | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales 1.6   2.9  
Access Equipment | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 721.1 670.8 1,269.2 1,366.1
Access Equipment | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 17.1 22.2 32.7 44.8
Defense        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 614.3 626.1 1,164.3 1,126.0
Defense | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 614.7 631.0 1,165.0 1,131.4
Defense | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 0.4 4.9 0.7 5.4
Defense | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 10.3 9.1 [1] 29.9 13.0 [1]
Defense | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 604.4 621.9 [1] 1,135.1 1,118.4 [1]
Fire & Emergency        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 308.7 241.9 578.5 494.6
Fire & Emergency | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 312.5 242.3 586.4 499.2
Fire & Emergency | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 3.8 0.4 7.9 4.6
Fire & Emergency | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 307.6 236.8 [1] 576.5 487.3 [1]
Fire & Emergency | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 4.9 5.5 [1] 9.9 11.9 [1]
Commercial        
Disaggregation Of Revenue [Line Items]        
Net sales 228.8 235.0 423.0 458.9
Commercial | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 230.0 236.7 425.7 460.9
Commercial | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales 1.2 1.7 2.7 2.0
Commercial | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 126.5 118.1 241.3 237.5
Commercial | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales $ 103.5 $ 118.6 $ 184.4 $ 223.4
[1] Results have been reclassified to reflect the move of the airport snow removal vehicle business from the Fire & Emergency segment to the Defense segment.