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FAIR VALUE - Narrative (Details)
€ in Millions
3 Months Ended 9 Months Ended
Sep. 26, 2020
USD ($)
Mar. 30, 2019
USD ($)
Sep. 26, 2020
USD ($)
Sep. 28, 2019
USD ($)
Sep. 26, 2020
EUR (€)
Sep. 02, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 30, 2016
EUR (€)
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Security at fair value $ 29,300,000   $ 29,300,000       $ 21,900,000  
Realized gain on fair value adjustment 2,100,000   7,400,000 $ 7,900,000        
Distribution   $ 2,600,000            
ULC Robotics                
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Deferred payment 45,000,000.0   45,000,000.0     $ 45,000,000.0    
Contingent consideration liability $ 24,300,000   $ 24,300,000          
Discontinued Operations, Disposed of by Sale | Buyer | Balcke Durr Business                
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Amount of guarantees | €         € 0.0     € 79.0
Discontinued Operations, Disposed of by Sale | Buyer | Bank and Surety Bonds | Balcke Durr Business                
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Amount of guarantees | €         6.1     79.0
Discontinued Operations, Disposed of by Sale | Buyer | Balcke-Durr | Balcke Durr Business                
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Cash collateral | €         1.0     4.0
Discontinued Operations, Disposed of by Sale | Buyer | mutares AG | Indemnification Agreement | Balcke Durr Business                
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                
Amount of guarantees | €         € 2.5     € 5.0