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Shareholders' equity - Accumulated other comprehensive income into income expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jul. 02, 2023
Jun. 30, 2024
Jul. 02, 2023
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Cost of goods sold $ 333,233 $ 335,436 $ 654,948 $ 654,988
Total before tax 97,497 126,955 71,687 224,435
(Benefit) tax (17,332) (15,532) 24,219 (35,716)
Income from continuing operations 80,165 111,423 95,906 188,719
Settlements 0 0 138,139 0
Reclassification out of accumulated other comprehensive income        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Total reclassifications, net of tax (691) (604) 78,146 (2,059)
Reclassification out of accumulated other comprehensive income | Actuarial losses        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Total before tax     1,210 4,135
Actuarial losses 9 2,069    
Reclassification out of accumulated other comprehensive income | Prior-service costs        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Total before tax     (983) (504)
Prior-service costs (491) (252)    
Reclassification out of accumulated other comprehensive income | Pension and Other Postretirement Benefits Plans        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Total before tax (482) 1,817 138,366 3,631
(Benefit) tax 107 (418) (58,125) (835)
Income from continuing operations (375) 1,399 80,241 2,796
Reclassification out of accumulated other comprehensive income | Foreign exchange contract | Cash Flow Hedges        
Accumulated Other Comprehensive Income (Loss) [Line Items]        
Cost of goods sold (347) (2,181) (2,109) (5,235)
Total before tax (347) (2,181) (2,109) (5,235)
(Benefit) tax 31 178 14 380
Income from continuing operations $ (316) $ (2,003) $ (2,095) $ (4,855)