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GOODWILL AND OTHER INTANGIBLE ASSETS - Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Oct. 02, 2021 | Oct. 01, 2022 | Dec. 31, 2021 | Sep. 02, 2020
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Estimated annual amortization expense, remainder of the year |  | $ 29.0 |  |
Estimated annual amortization expense, 2023 |  | 25.0 |  |
Estimated annual amortization expense, 2024 |  | 25.0 |  |
Estimated annual amortization expense, 2025 |  | 25.0 |  |
Estimated annual amortization expense, 2026 |  | 25.0 |  |
Estimated annual amortization expense, 2027 |  | 25.0 |  |
Net Carrying Value |  | 235.5 | $ 243.3 |
Impairments |  | 0.0 |  |
Goodwill |  | 448.6 | 457.3 |
ULC Robotics |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Contingent consideration liability | $ 24.3 |  |  | $ 24.3
ULC Robotics | Goodwill |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Impairments | 23.3 |  |  |
ULC Robotics | Other Operating Income (Expense) |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Impairments | $ 24.3 |  |  |
ULC Robotics |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Goodwill |  | 12.0 |  |
HVAC reportable segment |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Net Carrying Value |  | 96.1 |  |
Impairments |  | 0.0 |  |
Goodwill |  | 189.4 | 194.8 |
Detection and Measurement reportable segment |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Net Carrying Value |  | 139.4 |  |
Impairments |  | 0.0 |  |
Goodwill |  | 259.2 | 262.5 |
Trademarks |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Trademarks |  | 168.2 | $ 172.2 |
Trademarks | HVAC reportable segment |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Trademarks |  | 104.6 |  |
Trademarks | Detection and Measurement reportable segment |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Trademarks |  | $ 63.6 |  |

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