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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