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CONTINGENT LIABILITIES AND OTHER MATTERS - Assets and Liabilities Related to Asbestos-related Claims (Details) - USD ($)
$ in Millions
Apr. 03, 2021
Dec. 31, 2020
Product Liability Contingency [Line Items]    
Liabilities for claims $ 523.7 $ 535.2
Other Long Term Liabilities    
Product Liability Contingency [Line Items]    
Accruals included in other long-term liabilities 487.6 499.8
Asbestos Related Claims    
Product Liability Contingency [Line Items]    
Insurance recovery assets 488.4 496.4
Asbestos Related Claims | Other Assets    
Product Liability Contingency [Line Items]    
Insurance recovery assets, noncurrent 438.4 446.4
Asbestos Related Claims | Other Long Term Liabilities    
Product Liability Contingency [Line Items]    
Accruals included in other long-term liabilities $ 471.5 $ 479.9