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COMMITMENTS AND GUARANTEES - Changes in Carrying Amount of Product and Service Warranties (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Movement in Standard Product Warranty Accrual [Roll Forward]    
Balance beginning of period $ 126.6 $ 134.5
Warranties and guarantees issued 132.2 117.0
Warranty payments and currency (120.9) (129.4)
Balance end of period $ 137.9 $ 122.1