Revenue Recognition - Disaggregation of Revenue by Operating Segment and by Geographic Region (Details) - USD ($) $ in Millions	12 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2019
Disaggregation of Revenue [Line Items]
Sales	$ 6,997.4	$ 6,329.8	$ 6,694.8
North America
Disaggregation of Revenue [Line Items]
Sales	4,132.8	3,760.2	4,014.3
Europe, Middle East and Africa
Disaggregation of Revenue [Line Items]
Sales	1,405.7	1,249.3	1,249.8
Asia Pacific
Disaggregation of Revenue [Line Items]
Sales	1,012.2	868.7	908.6
Latin America
Disaggregation of Revenue [Line Items]
Sales	446.7	451.6	$ 522.1
Intelligent Devices
Disaggregation of Revenue [Line Items]
Sales	3,311.9	2,956.0
Intelligent Devices | North America
Disaggregation of Revenue [Line Items]
Sales	2,075.4	1,860.1
Intelligent Devices | Europe, Middle East and Africa
Disaggregation of Revenue [Line Items]
Sales	595.9	518.5
Intelligent Devices | Asia Pacific
Disaggregation of Revenue [Line Items]
Sales	432.5	372.6
Intelligent Devices | Latin America
Disaggregation of Revenue [Line Items]
Sales	208.1	204.8
Software & Control
Disaggregation of Revenue [Line Items]
Sales	1,947.0	1,681.3
Software & Control | North America
Disaggregation of Revenue [Line Items]
Sales	1,186.3	1,027.5
Software & Control | Europe, Middle East and Africa
Disaggregation of Revenue [Line Items]
Sales	375.0	300.5
Software & Control | Asia Pacific
Disaggregation of Revenue [Line Items]
Sales	273.9	254.1
Software & Control | Latin America
Disaggregation of Revenue [Line Items]
Sales	111.8	99.2
Lifecycle Services
Disaggregation of Revenue [Line Items]
Sales	1,738.5	1,692.5
Lifecycle Services | North America
Disaggregation of Revenue [Line Items]
Sales	871.1	872.6
Lifecycle Services | Europe, Middle East and Africa
Disaggregation of Revenue [Line Items]
Sales	434.8	430.3
Lifecycle Services | Asia Pacific
Disaggregation of Revenue [Line Items]
Sales	305.8	242.0
Lifecycle Services | Latin America
Disaggregation of Revenue [Line Items]
Sales	$ 126.8	$ 147.6