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NET PERIODIC BENEFIT COST - DEFINED BENEFIT PLANS (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Sep. 30, 2023
Oct. 01, 2022
Pension Benefits | U.S. Plans        
Defined Benefit Plan Disclosure [Line Items]        
Service cost $ 2.0 $ 1.4 $ 6.1 $ 4.2
Interest cost 13.6 8.5 41.0 25.2
Expected return on plan assets (15.5) (14.9) (46.6) (45.1)
Amortization of prior service cost (credit) 0.2 0.3 0.6 0.7
Amortization of net loss (gain) 2.3 1.2 6.7 4.5
Settlement / curtailment loss 0.0 0.0 0.0 0.0
Special termination benefit     0.0 0.0
Net periodic pension expense (benefit) 2.6 (3.5) 7.8 (10.5)
Pension Benefits | Non-U.S. Plans        
Defined Benefit Plan Disclosure [Line Items]        
Service cost 2.8 3.6 8.4 11.1
Interest cost 11.0 5.3 32.6 17.0
Expected return on plan assets (10.5) (9.0) (31.1) (28.7)
Amortization of prior service cost (credit) (0.2) (0.1) (0.5) (0.5)
Amortization of net loss (gain) 0.8 1.9 2.5 6.0
Settlement / curtailment loss 0.5 0.0 0.6 0.2
Special termination benefit     0.0 0.0
Net periodic pension expense (benefit) 4.4 1.7 12.5 5.1
Other Benefits        
Defined Benefit Plan Disclosure [Line Items]        
Service cost 0.1 0.1 0.2 0.2
Interest cost 0.5 0.2 1.5 1.0
Expected return on plan assets 0.0 0.0 0.0 0.0
Amortization of prior service cost (credit) 0.0 0.0 0.0 0.0
Amortization of net loss (gain) (0.4) (0.3) (1.0) (0.5)
Settlement / curtailment loss 0.0 0.0 0.0 0.0
Special termination benefit     0.0 6.9
Net periodic pension expense (benefit) $ 0.2 $ 0.0 $ 0.7 $ 7.6