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Financial instruments - Additional Information (Details) € in Millions | 3 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Sep. 27, 2020 USD ($) | Sep. 29, 2019 USD ($) | Sep. 27, 2020 USD ($) | Sep. 29, 2019 USD ($) | 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 | $ (20,632,000) | $ 39,894,000 | $ (20,087,000) | $ 27,562,000 |  |  |  |  |
Interest benefit on swaps designated as net investment hedges |  |  | 14,488,000 | 13,820,000 |  |  |  |  |
Allowance for doubtful accounts receivable | 12,900,000 |  | 12,900,000 |  | $ 9,100,000 |  |  |  |
Allowance for doubtful accounts receivable, current | 8,400,000 |  | 8,400,000 |  | 5,300,000 |  |  |  |
Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Ineffectiveness related to derivatives | 0 | 0 | 0 | 0 |  |  |  |  |
Foreign exchange contract | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Loss related to currency forward contracts | 900,000 | 1,900,000 | 100,000 | 3,500,000 |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | 166,200,000 |  | 166,200,000 |  | 145,100,000 |  |  |  |
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 | 136,900,000 |  | 136,900,000 |  | $ 132,000,000.0 |  |  |  |
Cross-currency interest rate swaps | Cash flow hedging |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Foreign currency translation gain (loss), continuing operations, adjustments, net of tax | 23,200,000 | (23,500,000) | 5,600,000 | (29,400,000) |  |  |  |  |
Cross-currency interest rate swaps | Not Designated as Hedging Instrument |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Interest benefit on swaps designated as net investment hedges | $ 4,700,000 | $ 5,000,000.0 | $ 14,500,000 | $ 13,800,000 |  |  |  |  |
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%

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