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Financial instruments - Additional Information (Details) € in Millions | 3 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Sep. 29, 2019 USD ($) | Sep. 30, 2018 USD ($) | Sep. 29, 2019 USD ($) | Sep. 30, 2018 USD ($) | Mar. 04, 2019 EUR (€) Financial_Institution_Counterparty | Mar. 04, 2019 USD ($) Financial_Institution_Counterparty | Dec. 31, 2018 USD ($) | Oct. 04, 2018 EUR (€) Financial_Institution_Counterparty | Oct. 04, 2018 USD ($) Financial_Institution_Counterparty
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Foreign currency translation, continuing operations, adjustments, net of tax | $ (39,894,000) | $ 14,387,000 | $ (27,562,000) | $ (30,130,000) |  |  |  |  |
Net revenues | 648,319,000 | 609,672,000 | 1,914,410,000 | 1,806,768,000 |  |  |  |  |
Allowance for doubtful accounts receivable | 9,100,000 |  | 9,100,000 |  |  |  | $ 9,300,000 |  |
Allowance for doubtful accounts receivable, current | 5,300,000 |  | 5,300,000 |  |  |  | 4,400,000 |  |
Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Ineffectiveness related to derivatives | 0 | 0 | 0 | $ 0 |  |  |  |  |
Foreign exchange contract | Designated as Hedging Instrument | Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | 115,600,000 |  | 115,600,000 |  |  |  | 115,300,000 |  |
Foreign exchange contract | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Loss related to currency forward contracts | 1,900,000 |  | 3,500,000 |  |  |  |  |  |
Gain related to currency forward contracts |  | $ 1,000,000.0 | 300,000 |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | 170,100,000 |  | 170,100,000 |  |  |  | $ 125,900,000 |  |
Cross-currency interest rate swap | Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Foreign currency translation, continuing operations, adjustments, net of tax | $ 23,500,000 |  | $ 29,400,000 |  |  |  |  |  |
Cross-currency interest rate swap | Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  | € 219.2 | $ 250,000,000 |  | € 433.9 | $ 500,000,000
Derivative, number of instruments held | Financial_Institution_Counterparty |  |  |  |  | 5 | 5 |  | 6 | 6
Derivative, fixed interest rate |  |  |  |  | 4.875% | 4.875% |  | 4.625% | 4.625%
Derivative, annual interest rate |  |  |  |  | 2.4595% | 2.4595% |  | 1.942% | 1.942%

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