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FAIR VALUE - Narrative (Details)
€ in Millions, $ in Millions
3 Months Ended 9 Months Ended
Oct. 01, 2022
USD ($)
Jul. 02, 2022
USD ($)
Apr. 02, 2022
USD ($)
Dec. 31, 2021
USD ($)
Oct. 02, 2021
USD ($)
Oct. 01, 2022
USD ($)
Oct. 02, 2021
USD ($)
Oct. 01, 2022
EUR (€)
Aug. 02, 2021
USD ($)
Nov. 11, 2020
USD ($)
Sep. 02, 2020
USD ($)
Dec. 30, 2016
EUR (€)
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                        
Other operating (income) expense, net $ 0.0       $ 24.3 $ (1.0) $ 21.6          
Impairments           0.0            
Realized gain on fair value adjustment           1.6 9.0          
Realized loss on fair value adjustment (7.4)       (3.0)              
Security at fair value 35.8     $ 38.8   35.8            
Sensors & Software Inc.                        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                        
Deferred payment                   $ 4.0    
Contingent consideration liability     $ 1.3                  
Enterprise Control Systems Ltd                        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                        
Deferred payment                 $ 13.5      
Contingent consideration liability $ 0.0     1.5   $ 0.0            
Contingent consideration date of acquisition                 $ 8.2      
Reduction in estimated liability   $ 0.4 $ 0.9 $ 6.7                
ULC Robotics                        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                        
Deferred payment                     $ 45.0  
Contingent consideration liability         24.3   $ 24.3       $ 24.3  
ULC Robotics | Goodwill                        
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]                        
Impairments         $ 23.3              
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 | €                       € 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 | €                       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 | €               € 0.0       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 | €                       € 5.0