Segments - Schedule of Acquisition and Integration Costs (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Mar. 31, 2021	Mar. 31, 2020
Segment Reporting Information [Line Items]
Acquisition and integration costs	$ 16.8	$ 16.9	$ 35.1	$ 36.2
Other items, net	0.1	(5.2)	(0.6)	(4.3)
Cost of products sold
Segment Reporting Information [Line Items]
Acquisition and integration costs	7.3	8.3	15.0	15.2
Selling, general and administrative expense
Segment Reporting Information [Line Items]
Acquisition and integration costs	8.6	8.1	19.0	19.2
Research and development expense
Segment Reporting Information [Line Items]
Acquisition and integration costs	0.9	0.6	1.0	1.0
Other items, net
Segment Reporting Information [Line Items]
Acquisition and integration costs	$ 0.0	(0.1)	0.1	0.8
Pre-tax expenses			$ 0.1
Acquisition-related Costs
Segment Reporting Information [Line Items]
Other items, net		$ (0.1)		$ 0.8