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GOODWILL AND OTHER INTANGIBLE ASSETS - Narrative (Details) - USD ($) $ in Millions	3 Months Ended	9 Months Ended
	Oct. 02, 2021	Oct. 01, 2022	Dec. 31, 2021	Sep. 02, 2020
Finite-Lived Intangible Assets [Line Items]
Estimated annual amortization expense, remainder of the year		$ 29.0
Estimated annual amortization expense, 2023		25.0
Estimated annual amortization expense, 2024		25.0
Estimated annual amortization expense, 2025		25.0
Estimated annual amortization expense, 2026		25.0
Estimated annual amortization expense, 2027		25.0
Net Carrying Value		235.5	$ 243.3
Impairments		0.0
Goodwill		448.6	457.3
ULC Robotics
Finite-Lived Intangible Assets [Line Items]
Contingent consideration liability	$ 24.3			$ 24.3
ULC Robotics \| Goodwill
Finite-Lived Intangible Assets [Line Items]
Impairments	23.3
ULC Robotics \| Other Operating Income (Expense)
Finite-Lived Intangible Assets [Line Items]
Impairments	$ 24.3
ULC Robotics
Finite-Lived Intangible Assets [Line Items]
Goodwill		12.0
HVAC reportable segment
Finite-Lived Intangible Assets [Line Items]
Net Carrying Value		96.1
Impairments		0.0
Goodwill		189.4	194.8
Detection and Measurement reportable segment
Finite-Lived Intangible Assets [Line Items]
Net Carrying Value		139.4
Impairments		0.0
Goodwill		259.2	262.5
Trademarks
Finite-Lived Intangible Assets [Line Items]
Trademarks		168.2	$ 172.2
Trademarks \| HVAC reportable segment
Finite-Lived Intangible Assets [Line Items]
Trademarks		104.6
Trademarks \| Detection and Measurement reportable segment
Finite-Lived Intangible Assets [Line Items]
Trademarks		$ 63.6