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EMPLOYEE BENEFIT PLANS - Net Periodic Expense (Income) (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended 9 Months Ended
Sep. 30, 2023
Oct. 01, 2022
Jul. 02, 2022
Sep. 30, 2023
Oct. 01, 2022
Pension Plan | UNITED STATES          
Net periodic pension/postretirement benefit expense          
Interest cost $ 3.3 $ 2.9   $ 9.9 $ 7.5
Expected return on plan assets (2.2) (2.0)   (6.6) (6.2)
Settlement and actuarial losses 0.0 2.4   0.0 6.2
Settlement loss, net     $ (10.0)    
Net periodic pension benefit expense 1.1 3.3   3.3 7.5
Remeasurement due to settlement   0.4 1.5   1.9
Defined benefit plan, net periodic benefit expense   2.0 $ 2.3   4.3
Pension Plan | Foreign Plan          
Net periodic pension/postretirement benefit expense          
Interest cost 1.4 1.0   4.2 3.0
Expected return on plan assets (1.6) (1.5)   (4.8) (4.5)
Net periodic pension benefit expense (0.2) (0.5)   (0.6) (1.5)
Postretirement Plans          
Net periodic pension/postretirement benefit expense          
Interest cost 0.3 0.3   0.9 0.9
Amortization of unrecognized prior service credits (1.0) (1.1)   (3.0) (3.3)
Settlement loss, net 0.0 0.0   0.0 0.3
Net periodic pension benefit expense $ (0.7) $ (0.8)   $ (2.1) $ (2.1)