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Financial instruments - Additional Information (Details) € in Millions | 3 Months Ended | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jun. 28, 2020 USD ($) | Jun. 30, 2019 USD ($) | Jun. 28, 2020 USD ($) | Jun. 30, 2019 USD ($) | Dec. 31, 2019 USD ($) | Mar. 04, 2019 USD ($) Financial_Institution_Counterparty | Mar. 04, 2019 EUR (€) Financial_Institution_Counterparty | Oct. 04, 2018 USD ($) Financial_Institution_Counterparty | Oct. 04, 2018 EUR (€) Financial_Institution_Counterparty
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Foreign currency translation gain (loss), continuing operations, adjustments, net of tax | $ 17,654,000 | $ 12,568,000 | $ (545,000) | $ 12,332,000 |  |  |  |  |
Interest benefit on swaps designated as net investment hedges |  |  | 9,805,000 | 8,799,000 |  |  |  |  |
Allowance for doubtful accounts receivable | 11,600,000 |  | 11,600,000 |  | $ 9,100,000 |  |  |  |
Allowance for doubtful accounts receivable, current | 7,300,000 |  | 7,300,000 |  | 5,300,000 |  |  |  |
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 | 126,600,000 |  | 126,600,000 |  | 132,000,000.0 |  |  |  |
Foreign exchange contract | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Gain related to currency forward contracts |  | 1,500,000 | 800,000 |  |  |  |  |  |
Loss related to currency forward contracts | 800,000 |  |  | 1,600,000 |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | 153,300,000 |  | 153,300,000 |  | $ 145,100,000 |  |  |  |
Cross-currency interest rate swaps | Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Foreign currency translation gain (loss), continuing operations, adjustments, net of tax | (7,400,000) | (700,000) | 17,600,000 | 9,800,000 |  |  |  |  |
Cross-currency interest rate swaps | Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  |  | $ 250,000,000 | € 219.2 | $ 500,000,000 | € 433.9
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%
Cross-currency interest rate swaps | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Interest benefit on swaps designated as net investment hedges | $ 4,900,000 | $ 4,900,000 | $ 9,800,000 | $ 8,800,000 |  |  |  |  |

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