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Revenue Impact of changes in accounting policies (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jul. 01, 2017
Jun. 30, 2018
Jul. 01, 2017
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]        
Net sales $ 846,646 $ 894,930 $ 1,722,020 $ 1,773,440
Cost of sales and operating expenses 653,001 $ 699,244 1,331,100 $ 1,387,210
Adjustments | Accounting Standards Update 2014-09        
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]        
Net sales 45,449   91,636  
Cost of sales and operating expenses 45,449   91,636  
Balances without adoption of Topic 606 | Accounting Standards Update 2014-09        
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]        
Net sales 892,095   1,813,656  
Cost of sales and operating expenses $ 698,450   $ 1,422,736