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EMPLOYEE BENEFIT PLANS - Net Periodic Expense (Income) (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jul. 01, 2023
Jul. 02, 2022
Jul. 01, 2023
Jul. 02, 2022
Pension Plan | UNITED STATES        
Net periodic pension/postretirement benefit expense        
Interest cost $ 3.3 $ 2.3 $ 6.6 $ 4.6
Expected return on plan assets (2.2) (2.1) (4.4) (4.2)
Settlement and actuarial losses 0.0 3.8 0.0 3.8
Net periodic pension benefit expense 1.1 4.0 2.2 4.2
Remeasurement due to settlement   1.5   1.5
Defined benefit plan, net periodic benefit expense   2.3   2.3
Pension Plan | Foreign Plan        
Net periodic pension/postretirement benefit expense        
Interest cost 1.4 1.0 2.8 2.0
Expected return on plan assets (1.6) (1.5) (3.2) (3.0)
Net periodic pension benefit expense (0.2) (0.5) (0.4) (1.0)
Postretirement Plans        
Net periodic pension/postretirement benefit expense        
Interest cost 0.3 0.3 0.6 0.6
Amortization of unrecognized prior service credits (1.0) (1.1) (2.0) (2.2)
Recognized net actuarial losses 0.0 0.0 0.0 0.3
Net periodic pension benefit expense $ (0.7) $ (0.8) $ (1.4) $ (1.3)