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Shareholders' equity - Accumulated other comprehensive income into income expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Apr. 02, 2023
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Cost of goods sold $ 321,715 $ 319,552
Total before tax (25,810) 97,480
(Benefit) tax 41,551 (20,184)
Income from continuing operations 15,741 77,296
Settlements 138,139 0
Reclassification out of accumulated other comprehensive income    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total reclassifications, net of tax 78,837 (1,455)
Reclassification out of accumulated other comprehensive income | Actuarial losses    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Actuarial losses 1,201 2,066
Reclassification out of accumulated other comprehensive income | Prior-service costs    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Prior-service costs (492) (252)
Reclassification out of accumulated other comprehensive income | Pension and Other Postretirement Benefits Plans    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Total before tax 138,848 1,814
(Benefit) tax (58,232) (417)
Income from continuing operations 80,616 1,397
Reclassification out of accumulated other comprehensive income | Foreign exchange contract | Cash Flow Hedges    
Accumulated Other Comprehensive Income (Loss) [Line Items]    
Cost of goods sold (1,762) (3,054)
Total before tax (1,762) (3,054)
(Benefit) tax (17) 202
Income from continuing operations $ (1,779) $ (2,852)