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Financial instruments - Additional Information (Details) € in Millions | 3 Months Ended | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jun. 27, 2021 USD ($) | Jun. 28, 2020 USD ($) | Jun. 27, 2021 USD ($) | Jun. 28, 2020 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) Financial_Institution_Counterparty | Dec. 31, 2019 EUR (€) Financial_Institution_Counterparty | Dec. 31, 2018 USD ($) Financial_Institution_Counterparty | Dec. 31, 2018 EUR (€) Financial_Institution_Counterparty
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |
Allowance for credit losses | $ 12,100,000 |  | $ 12,100,000 |  | $ 12,900,000 |  |  |  |
Allowance for credit losses, current | 7,100,000 |  | 7,100,000 |  | 8,100,000 |  |  |  |
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] |  |  |  |  |  |  |  |  |
Gain related to currency forward contracts | 700,000 |  |  | $ 800,000 |  |  |  |  |
Loss related to currency forward contracts |  | $ 800,000 | 2,500,000 |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | 189,200,000 |  | $ 189,200,000 |  | 163,500,000 |  |  |  |
Derivative, term of contract |  |  | 12 months |  |  |  |  |  |
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 | $ 137,000,000.0 |  | $ 137,000,000.0 |  | $ 129,500,000 |  |  |  |
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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