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CONTINGENT LIABILITIES AND OTHER MATTERS - Assets and Liabilities Related to Asbestos-related Claims (Details) - USD ($) $ in Millions | Oct. 02, 2021 | Dec. 31, 2020
--- | --- | ---
Product Liability Contingency [Line Items] |  |
Liabilities for claims | $ 499.4 | $ 535.2
Other Long Term Liabilities |  |
Product Liability Contingency [Line Items] |  |
Accruals included in other long-term liabilities | 469.5 | 499.8
Asbestos Related Claims |  |
Product Liability Contingency [Line Items] |  |
Insurance recovery assets | 453.9 | 496.4
Asbestos Related Claims | Other Assets |  |
Product Liability Contingency [Line Items] |  |
Insurance recovery assets, noncurrent | 403.9 | 446.4
Asbestos Related Claims | Other Long Term Liabilities |  |
Product Liability Contingency [Line Items] |  |
Accruals included in other long-term liabilities | $ 444.8 | $ 479.9

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- Definition Carrying amount as of the balance sheet date of reserves for the costs of settling insured claims and costs incurred in the claims settlement process attributable to asbestos and environmental claims, before estimated recoveries from reinsurers. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 40 -Section 50 -Paragraph 3 -Subparagraph (cc) -URI http://asc.fasb.org/extlink&oid=116884095&loc=d3e14764-158437 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 40 -Section 50 -Paragraph 3 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=116884095&loc=d3e14764-158437 + Details
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