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FAIR VALUE - Narrative (Details) € in Millions, $ in Millions	3 Months Ended		6 Months Ended
	Jul. 03, 2021 USD ($)	Jun. 27, 2020 USD ($)	Jul. 03, 2021 USD ($)	Jun. 27, 2020 USD ($)	Jul. 03, 2021 EUR (€)	Dec. 31, 2020 USD ($)	Nov. 11, 2020 USD ($)	Sep. 02, 2020 USD ($)	Dec. 30, 2016 EUR (€)
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Realized gain on fair value adjustment	$ 2.2	$ 5.3	$ 7.4	$ 5.3
Other operating income	(2.7)	$ 0.0	(2.7)	$ 0.4
Security at fair value	34.4		34.4			$ 27.0
ULC Robotics
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Deferred payment								$ 45.0
Contingent consideration liability	24.3		24.3			24.3
Sensors & Software Inc.
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Deferred payment							$ 4.0
Contingent consideration liability	$ 0.7		$ 0.7			$ 0.7
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 | €									€ 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 | €									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 | €					€ 0.0				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 | €					€ 1.0				€ 5.0

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Carrying amount as of the balance sheet date of cash collateral held for borrowed securities, for which the cash is restricted as to withdrawal or usage.

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