Segments - Schedule of Acquisition and Integration Costs (Details) - USD ($) $ in Millions	3 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Segment Reporting Information [Line Items]
Acquisition and integration costs	$ 18.3	$ 19.3
Other items, net	(0.7)	0.9
Cost of products sold
Segment Reporting Information [Line Items]
Acquisition and integration costs	7.7	6.9
Selling, general and administrative expense
Segment Reporting Information [Line Items]
Acquisition and integration costs	10.4	11.1
Research and development expense
Segment Reporting Information [Line Items]
Acquisition and integration costs	0.1	0.4
Other items, net
Segment Reporting Information [Line Items]
Acquisition and integration costs	$ 0.1	$ 0.9