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Stock-based compensation (Details) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 26, 2020 | Sep. 28, 2019 | Sep. 26, 2020 | Sep. 28, 2019
Restricted stock units (RSUs) |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |
Number of shares granted in period (in shares) | 4,000 | 0 | 193,000 | 187,000
Weighted-average grant-date fair value (in usd per share) | $ 94.25 |  | $ 120.35 | $ 137.30
Recognized stock-based compensation costs | $ 4,883,000 | $ 5,651,000 | $ 14,559,000 | $ 17,228,000
Recognized stock-based compensation costs, net of tax | 3,614,000 | $ 4,182,000 | 10,773,000 | 12,749,000
Pre-tax unrecognized compensation expense, net of forfeitures | $ 22,977,000 |  | $ 22,977,000 |
Recognized expense over a weighted-average period (years) |  |  | 1 year 9 months 29 days |
Share-based payment arrangement, option |  |  |  |
Share Based Compensation Arrangement by Share Based Payment Award [Line Items] |  |  |  |
Recognized stock-based compensation costs |  |  | $ 0 | $ 0

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