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Taxes on income from continuing operations
 3 Months Ended
Mar. 31, 2024
Income Tax Disclosure [Abstract]  
Taxes on income from continuing operations Taxes on income from continuing operations
 Three Months Ended
 March 31, 2024April 2, 2023
Effective income tax rate (1)
161.0%20.7%
(1) The effective income tax rate for the three months ended March 31, 2024 represents an income tax benefit and the income tax rate for the three months ended April 2, 2023 represents an income tax expense.

The effective income tax rates for the three months ended March 31, 2024 and April 2, 2023 were 161.0% and 20.7%, respectively. The effective income tax rate for the three months ended March 31, 2024 reflects a tax benefit associated with a pension charge recognized in connection with the termination of the TRIP defined benefit plan. The effective income tax rate for the three months ended April 2, 2023 reflects tax expense related to the revaluation of certain U.S. state operating losses and credit carryforwards. The effective income tax rates for both periods reflect a tax benefit from research and development tax credits.