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Financial instruments - Additional information (Details) € in Millions |  |  | 3 Months Ended | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Apr. 25, 2024 USD ($) counterparty agreement | Feb. 26, 2024 USD ($) agreement | Jun. 30, 2024 USD ($) | Jul. 02, 2023 USD ($) | Jun. 30, 2024 USD ($) | Jul. 02, 2023 USD ($) | Apr. 25, 2024 EUR (€) counterparty agreement | Dec. 31, 2023 USD ($) counterparty | Dec. 31, 2023 EUR (€) counterparty | Dec. 31, 2019 USD ($) counterparty | Dec. 31, 2019 EUR (€) counterparty
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Allowance for credit losses |  |  | $ 9,100,000 |  | $ 9,100,000 |  |  | $ 9,500,000 |  |  |
Allowance for credit losses, current |  |  | 5,400,000 |  | 5,400,000 |  |  | 5,500,000 |  |  |
Cash flow hedging |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Ineffectiveness related to derivatives |  |  | 0 | $ 0 | 0 | $ 0 |  |  |  |  |
Designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Loss on sale of derivatives | $ 400,000 |  |  |  |  |  |  |  |  |  |
Foreign exchange contract | Not designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Gains (losses) on derivatives |  |  | 100,000 | $ (2,000,000.0) | (3,500,000) | $ (2,100,000) |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  | 173,400,000 |  | $ 173,400,000 |  |  | 195,000,000.0 |  |  |
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 |  |  | $ 302,200,000 |  | $ 302,200,000 |  |  | 234,100,000 |  |  |
Cross-currency interest rate swaps | Designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  |  |  |  | $ 500,000,000 |  |  |
Derivative, number of counterparties | counterparty |  |  |  |  |  |  |  | 6 | 6 | 5 | 5
Proceeds from derivative instrument, investing activities |  | $ 12,100,000 |  |  |  |  |  |  |  |  |
Number of new agreements | agreement | 2 | 2 |  |  |  |  | 2 |  |  |  |
Cross-currency interest rate swaps | Designated as hedging instrument | Short |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts |  |  |  |  |  |  |  | $ 500,000,000 |  | $ 250,000,000 |
Derivative, fixed interest rate |  |  |  |  |  |  |  | 4.63% | 4.63% | 4.88% | 4.88%
Cross-currency interest rate swaps | Designated as hedging instrument | Long |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | € |  |  |  |  |  |  |  |  | € 474.7 |  | € 219.2
Derivative, fixed interest rate |  |  |  |  |  |  |  | 3.05% | 3.05% | 2.46% | 2.46%
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Derivative, number of counterparties | counterparty | 5 |  |  |  |  |  | 5 |  |  |  |
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Short |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | $ 250,000,000 | $ 250,000,000 |  |  |  |  |  |  |  |  |
Derivative, fixed interest rate | 4.25% |  |  |  |  |  | 4.25% |  |  |  |
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Long |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | € |  |  |  |  |  |  | € 233.4 |  |  |  |
Derivative, fixed interest rate | 2.44% |  |  |  |  |  | 2.44% |  |  |  |
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Derivative, number of counterparties | counterparty | 4 |  |  |  |  |  | 4 |  |  |  |
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Short |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | $ 250,000,000 |  |  |  |  |  |  |  |  |  |
Derivative, fixed interest rate | 4.25% |  |  |  |  |  | 4.25% |  |  |  |
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Long |  |  |  |  |  |  |  |  |  |  |
Derivatives Fair Value [Line Items] |  |  |  |  |  |  |  |  |  |  |
Total notional amount for all open foreign currency forward contracts | € |  |  |  |  |  |  | € 233.4 |  |  |  |
Derivative, fixed interest rate | 2.45% |  |  |  |  |  | 2.45% |  |  |  |

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