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Borrowings and Credit Arrangements - Interest Expense Credit Agreement (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Mar. 28, 2020
Mar. 30, 2019
Mar. 28, 2020
Mar. 30, 2019
Line of Credit Facility [Line Items]        
Interest expense $ 15.7 $ 15.7 $ 31.4 $ 31.4
Credit Agreement        
Line of Credit Facility [Line Items]        
Interest expense $ 13.0 $ 16.8 $ 26.6 $ 35.5
Weighted average interest rate 2.75% 3.86% 2.93% 3.84%
Interest rate at end of period 2.33% 3.87% 2.33% 3.87%