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Shareholders' equity - Accumulated other comprehensive income into income expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 26, 2022
Jun. 27, 2021
Jun. 26, 2022
Jun. 27, 2021
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Cost of goods sold $ 315,709 $ 315,917 $ 611,191 $ 605,315
Income from continuing operations before taxes 123,967 99,695 217,307 186,990
(Benefit) tax (18,412) (16,412) (34,385) (28,840)
Income from continuing operations 105,555 83,283 182,922 158,150
Reclassification out of Accumulated Other Comprehensive Income        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Total reclassifications, net of tax 1,127 1,610 2,868 3,898
Reclassification out of Accumulated Other Comprehensive Income | Pension and Other Postretirement Benefits Plans        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Income from continuing operations before taxes 1,737 1,893 3,485 3,785
(Benefit) tax (405) (443) (812) (885)
Income from continuing operations 1,332 1,450 2,673 2,900
Reclassification out of Accumulated Other Comprehensive Income | Actuarial losses        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Income from continuing operations before taxes 1,989 2,144 3,989 4,287
Reclassification out of Accumulated Other Comprehensive Income | Prior-service costs        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Income from continuing operations before taxes (252) (251) (504) (502)
Reclassification out of Accumulated Other Comprehensive Income | Foreign exchange contract | Cash Flow Hedges        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Cost of goods sold (229) 133 169 979
Income from continuing operations before taxes (229) 133 169 979
(Benefit) tax 24 27 26 19
Income from continuing operations $ (205) $ 160 $ 195 $ 998