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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