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Revenue Recognition - Disaggregation of Revenue (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Disaggregation Of Revenue [Line Items]        
Net sales $ 2,208.8 $ 1,580.8 $ 5,674.3 $ 5,072.6
Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales (6.5) (15.7) [1] (20.0) (26.3) [1]
Transferred at Point in Time        
Disaggregation Of Revenue [Line Items]        
Net sales 1,364.3 911.5 3,467.0 3,003.5
Transferred at Point in Time | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales (6.4) (15.8) (20.6) (27.7)
Transferred over Time        
Disaggregation Of Revenue [Line Items]        
Net sales 844.5 669.3 2,207.3 2,069.1
Transferred over Time | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales (0.1) 0.1 0.6 1.4
Access Equipment        
Disaggregation Of Revenue [Line Items]        
Net sales 923.1 479.9 2,222.1 1,890.8
Access Equipment | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 924.3 488.0 2,226.2 1,898.9
Access Equipment | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales 1.2 8.1 4.1 8.1
Access Equipment | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 907.1 472.1 2,176.3 1,838.2
Access Equipment | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 17.2 15.9 49.9 60.7
Defense        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 709.9 558.1 1,874.2 1,684.1
Defense | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 710.4 561.2 1,875.4 1,692.6
Defense | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 0.5 3.1 1.2 8.5
Defense | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 10.1 5.7 [1] 40.0 18.7 [1]
Defense | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 700.3 555.5 [1] 1,835.4 1,673.9 [1]
Fire & Emergency        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 298.4 297.6 876.9 792.2
Fire & Emergency | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 302.5 299.6 888.9 798.8
Fire & Emergency | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales [1] 4.1 2.0 12.0 6.6
Fire & Emergency | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 297.8 296.0 [1] 874.3 783.3 [1]
Fire & Emergency | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 4.7 3.6 [1] 14.6 15.5 [1]
Commercial        
Disaggregation Of Revenue [Line Items]        
Net sales 277.4 245.1 700.4 704.0
Commercial | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 278.1 247.7 703.8 708.6
Commercial | Intersegment Eliminations        
Disaggregation Of Revenue [Line Items]        
Net sales 0.7 2.6 3.4 4.6
Commercial | Transferred at Point in Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales 155.7 153.5 397.0 391.0
Commercial | Transferred over Time | Operating Segments        
Disaggregation Of Revenue [Line Items]        
Net sales $ 122.4 $ 94.2 $ 306.8 $ 317.6
[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.