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Financial instruments - After tax gains and losses reclassified from accumulated other comprehensive income into income (Details) - USD ($)
$ in Thousands
3 Months Ended
Apr. 02, 2017
Mar. 27, 2016
Foreign exchange contract | Cash flow hedging    
Derivative Instruments, Gain (Loss) [Line Items]    
After Tax Gain (Loss) Recognized in OCI $ 1,728 $ 1,480