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RESTRUCTURING ACTIONS Restructuring Costs (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Oct. 02, 2021
Sep. 26, 2020
Oct. 02, 2021
Sep. 26, 2020
Restructuring Cost and Reserve [Line Items]        
Severance and other employee-related $ 4.3 $ 10.9 $ 6.7 $ 41.8
Asset write-offs 0.0 0.0 0.6 0.0
Other 0.2 0.6 0.9 0.7
Restructuring costs 4.5 11.5 8.2 42.5
Motion Technologies        
Restructuring Cost and Reserve [Line Items]        
Restructuring costs 4.1 0.0 4.1 14.0
Industrial Process        
Restructuring Cost and Reserve [Line Items]        
Restructuring costs 0.5 10.2 1.4 18.1
Connect & Control Technologies        
Restructuring Cost and Reserve [Line Items]        
Restructuring costs (0.1) 1.3 2.4 8.0
Corporate and Other        
Restructuring Cost and Reserve [Line Items]        
Restructuring costs $ 0.0 $ 0.0 $ 0.3 $ 2.4