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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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