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Restructuring and Related Charges - Summary of Costs Incurred and Cumulative Costs by Cost Type (Details) - USD ($) $ in Millions | 12 Months Ended
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Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2018
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring and related charges | $ 72.6 | $ 65.7 | $ 75.6
Cumulative costs | 132.5 |  |
Future costs to be incurred | 31.0 |  |
Termination Benefits |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring and related charges | 12.8 | 9.8 | 7.8
Cumulative costs | 22.8 |  |
Future costs to be incurred | 5.8 |  |
Other Costs |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring and related charges | 59.8 | $ 55.9 | $ 67.8
Cumulative costs | 109.7 |  |
Future costs to be incurred | $ 25.2 |  |

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