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Financial instruments - Additional information (Details) € in Millions |  | 3 Months Ended | 9 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Oct. 04, 2023 USD ($) | Oct. 01, 2023 USD ($) | Sep. 25, 2022 USD ($) | Oct. 01, 2023 USD ($) | Sep. 25, 2022 USD ($) | Oct. 02, 2023 USD ($) counterparty | Oct. 02, 2023 EUR (€) counterparty | Dec. 31, 2022 USD ($) | Dec. 31, 2019 USD ($) counterparty | Dec. 31, 2019 EUR (€) counterparty | Dec. 31, 2018 USD ($) counterparty | Dec. 31, 2018 EUR (€) counterparty
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Allowance for credit losses |  | $ 9,100,000 |  | $ 9,100,000 |  |  |  | $ 8,600,000 |  |  |  |
Allowance for credit losses, current |  | 5,200,000 |  | 5,200,000 |  |  |  | 4,900,000 |  |  |  |
Cash flow hedging |  |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Ineffectiveness related to derivatives |  | 0 | $ 0 |  |  |  |  |  |  |  |  |
Foreign exchange contract | Not designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Gains (losses) on derivatives |  | (1,000,000.0) | $ (1,000,000) | 1,000,000.0 | $ (4,200,000) |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  | 140,300,000 |  | $ 140,300,000 |  |  |  | 152,900,000 |  |  |  |
Derivative, term of contract |  |  |  | 12 months |  |  |  |  |  |  |  |
Foreign exchange contract | Designated as hedging instrument | Cash flow hedging |  |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  | $ 238,100,000 |  | $ 238,100,000 |  |  |  | $ 184,800,000 |  |  |  |
Cross-currency interest rate swaps | Designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  |  |  |  |  | $ 250,000,000 | € 219.2 | $ 500,000,000 | € 433.9
Derivative, number of instruments held | counterparty |  |  |  |  |  |  |  |  | 5 | 5 | 6 | 6
Derivative, fixed interest rate |  |  |  |  |  |  |  |  | 4.88% | 4.88% | 4.63% | 4.63%
Derivative, annual interest rate |  |  |  |  |  |  |  |  | 2.46% | 2.46% | 1.94% | 1.94%
Cross-currency interest rate swaps | Designated as hedging instrument | Subsequent event |  |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  |  | $ 500,000,000 | € 474.7 |  |  |  |  |
Derivative, number of instruments held | counterparty |  |  |  |  |  | 6 | 6 |  |  |  |  |
Derivative, fixed interest rate |  |  |  |  |  | 4.63% | 4.63% |  |  |  |  |
Derivative, annual interest rate |  |  |  |  |  | 3.05% | 3.05% |  |  |  |  |
Proceeds from derivative instrument, investing activities | $ 43,000,000 |  |  |  |  |  |  |  |  |  |  |

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