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CONTINGENT LIABILITIES AND OTHER MATTERS - Assets and Liabilities Related to Asbestos-related Claims (Details) - USD ($) $ in Millions	Jul. 03, 2021	Apr. 03, 2021	Dec. 31, 2020
Product Liability Contingency [Line Items]
Liabilities for claims		$ 512.7	$ 535.2
Other Long Term Liabilities
Product Liability Contingency [Line Items]
Accruals included in other long-term liabilities	$ 477.1		499.8
Asbestos Related Claims
Product Liability Contingency [Line Items]
Insurance recovery assets		$ 478.7	496.4
Asbestos Related Claims \| Other Assets
Product Liability Contingency [Line Items]
Insurance recovery assets, noncurrent	428.7		446.4
Asbestos Related Claims \| Other Long Term Liabilities
Product Liability Contingency [Line Items]
Accruals included in other long-term liabilities	$ 458.1		$ 479.9