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Shareholders' equity - Accumulated other comprehensive income into income expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Apr. 02, 2023
Mar. 27, 2022
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Cost of goods sold $ 319,552 $ 295,482
Total before tax 97,480 93,340
(Benefit) tax (20,184) (15,973)
Net of tax 77,296 77,367
Reclassification out of accumulated other comprehensive income    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total reclassifications, net of tax (1,455) 1,740
Reclassification out of accumulated other comprehensive income | Actuarial losses    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax 2,066 2,000
Reclassification out of accumulated other comprehensive income | Prior-service costs    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax (252) (252)
Reclassification out of accumulated other comprehensive income | Pension and Other Postretirement Benefits Plans    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax 1,814 1,748
(Benefit) tax (417) (408)
Net of tax 1,397 1,340
Reclassification out of accumulated other comprehensive income | Foreign exchange contract | Cash Flow Hedges    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Cost of goods sold (3,054) 398
Total before tax (3,054) 398
(Benefit) tax 202 2
Net of tax $ (2,852) $ 400