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Financial instruments - Foreign exchange gains and losses recognized within AOCI and the interest benefit recognized within interest expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Apr. 02, 2023
Derivative Instruments, Gain (Loss) [Line Items] |  |
Foreign exchange gain (loss) | $ (36,669) | $ 18,570
Interest benefit | 3,720 | 5,108
Cross-currency interest rate swaps | Not designated as hedging instrument |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Interest benefit | 3,720 | 5,108
Cross-currency interest rate swaps | Cash flow hedging |  |
Derivative Instruments, Gain (Loss) [Line Items] |  |
Foreign exchange gain (loss) | $ 8,893 | $ (10,031)

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