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Stock-based compensation (Details) - Restricted Stock Units (RSUs) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 28, 2019 | Sep. 29, 2018 | Sep. 28, 2019 | Sep. 29, 2018
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |
Number of shares granted in period (in shares) | 0 | 3 | 187 | 130
Weighted-average grant-date fair value (in usd per share) |  | $ 189.39 | $ 137.30 | $ 236.82
Recognized stock-based compensation costs | $ 5,651 | $ 5,104 | $ 17,228 | $ 26,697
Recognized stock-based compensation costs, net of tax | 4,182 | $ 3,777 | 12,749 | $ 19,756
Pre-tax unrecognized compensation expense, net of forfeitures | $ 20,598 |  | $ 20,598 |
Recognized expense over a weighted-average period (years) |  |  | 1 year 5 months 15 days |

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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