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Financial instruments - Fair values of derivative instruments designated as hedging instruments (Details) - Cash flow hedging - USD ($) $ in Thousands | Apr. 02, 2023 | Dec. 31, 2022
--- | --- | ---
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | $ 58,573 | $ 63,610
Total liability derivatives | 1,259 | 1,460
Other assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 0 | 11,912
Foreign exchange contract | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 58,573 | 51,698
Foreign exchange contract | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 1,259 | 1,460
Foreign exchange contract | Designated as hedging instrument | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 6,004 | 3,154
Foreign exchange contract | Designated as hedging instrument | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 967 | 983
Foreign exchange contract | Not designated as hedging instrument | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 43 | 41
Foreign exchange contract | Not designated as hedging instrument | Other current liabilities |  |
Derivatives Fair Value [Line Items] |  |
Total liability derivatives | 292 | 477
Cross-currency interest rate swaps | Not designated as hedging instrument | Prepaid expenses and other current assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | 52,526 | 48,503
Cross-currency interest rate swaps | Not designated as hedging instrument | Other assets |  |
Derivatives Fair Value [Line Items] |  |
Total asset derivatives | $ 0 | $ 11,912

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