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Revenue Recognition - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Sep. 30, 2020
Disaggregation Of Revenue [Line Items]
Other long-term assets	$ 323.9		$ 323.9		$ 286.5
Fire & Emergency
Disaggregation Of Revenue [Line Items]
Interest charges, Customer Advances	4.4	$ 4.5	12.8	$ 11.7
Deferred Contract Related Costs
Disaggregation Of Revenue [Line Items]
Other long-term assets	29.2		29.2
Anticipated Contracts Costs
Disaggregation Of Revenue [Line Items]
Other long-term assets	6.5		6.5
Engineering Costs
Disaggregation Of Revenue [Line Items]
Other long-term assets	20.8		20.8
Setup Costs
Disaggregation Of Revenue [Line Items]
Other long-term assets	0.9		0.9
Tooling
Disaggregation Of Revenue [Line Items]
Other long-term assets	$ 1.0		$ 1.0

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