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Financial instruments - Fair values of derivative instruments designated as hedging instruments (Details) - USD ($) $ in Thousands | Jun. 27, 2021 | Dec. 31, 2020
--- | --- | ---
Cash flow hedging |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | $ 21,905 | $ 21,858
Total liability derivatives | 22,985 | 35,995
Foreign exchange contract | Other liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 21,183 | 34,125
Foreign exchange contract | Cash flow hedging | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 21,905 | 21,858
Foreign exchange contract | Cash flow hedging | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 1,802 | 1,870
Foreign exchange contract | Designated as Hedging Instrument | Cash flow hedging | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 1,199 | 1,691
Foreign exchange contract | Designated as Hedging Instrument | Cash flow hedging | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 1,372 | 1,504
Foreign exchange contract | Not Designated as Hedging Instrument | Cash flow hedging | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 73 | 61
Foreign exchange contract | Not Designated as Hedging Instrument | Cash flow hedging | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 430 | 366
Cross-currency interest rate swaps | Not Designated as Hedging Instrument | Cash flow hedging | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 20,633 | 20,106
Cross-currency interest rate swaps | Not Designated as Hedging Instrument | Cash flow hedging | Other liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | $ 21,183 | $ 34,125

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