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COMMITMENTS AND GUARANTEES - Changes in Carrying Amount of Product and Service Warranties (Details) - USD ($)
$ in Millions
6 Months Ended
Jul. 02, 2022
Jul. 03, 2021
Movement in Standard Product Warranty Accrual [Roll Forward]    
Balance beginning of period $ 134.5 $ 107.9
Warranties and guarantees issued 78.7 70.4
Warranty payments and currency (82.0) (77.4)
Balance end of period $ 131.2 $ 100.9