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FAIR VALUE - Narrative (Details) € in Millions | 3 Months Ended | 9 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | ---
Sep. 26, 2020 USD ($) | Mar. 30, 2019 USD ($) | Sep. 26, 2020 USD ($) | Sep. 28, 2019 USD ($) | Sep. 26, 2020 EUR (€) | Sep. 02, 2020 USD ($) | Dec. 31, 2019 USD ($) | Dec. 30, 2016 EUR (€)
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |
Security at fair value | $ 29,300,000 |  | $ 29,300,000 |  |  |  | $ 21,900,000 |
Realized gain on fair value adjustment | 2,100,000 |  | 7,400,000 | $ 7,900,000 |  |  |  |
Distribution |  | $ 2,600,000 |  |  |  |  |  |
ULC Robotics |  |  |  |  |  |  |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |  |  |  |  |  |  |
Deferred payment | 45,000,000.0 |  | 45,000,000.0 |  |  | $ 45,000,000.0 |  |
Contingent consideration liability | $ 24,300,000 |  | $ 24,300,000 |  |  |  |  |
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 | € |  |  |  |  | € 0.0 |  |  | € 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 | € |  |  |  |  | 6.1 |  |  | 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 | € |  |  |  |  | 1.0 |  |  | 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 | € |  |  |  |  | € 2.5 |  |  | € 5.0

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