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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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