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CONTINGENT LIABILITIES AND OTHER MATTERS - Assets and Liabilities Related to Asbestos-related Claims (Details) - USD ($) $ in Millions | Jul. 03, 2021 | Apr. 03, 2021 | Dec. 31, 2020
--- | --- | --- | ---
Product Liability Contingency [Line Items] |  |  |
Liabilities for claims |  | $ 512.7 | $ 535.2
Other Long Term Liabilities |  |  |
Product Liability Contingency [Line Items] |  |  |
Accruals included in other long-term liabilities | $ 477.1 |  | 499.8
Asbestos Related Claims |  |  |
Product Liability Contingency [Line Items] |  |  |
Insurance recovery assets |  | $ 478.7 | 496.4
Asbestos Related Claims | Other Assets |  |  |
Product Liability Contingency [Line Items] |  |  |
Insurance recovery assets, noncurrent | 428.7 |  | 446.4
Asbestos Related Claims | Other Long Term Liabilities |  |  |
Product Liability Contingency [Line Items] |  |  |
Accruals included in other long-term liabilities | $ 458.1 |  | $ 479.9

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