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Financial Instruments and Risk Management Effect of Net Investment Hedge Instruments (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jul. 03, 2021
Jun. 27, 2020
Jul. 03, 2021
Jun. 27, 2020
Derivatives, Fair Value [Line Items]        
Interest expense, net $ 42,440 $ 41,075 $ 86,900 $ 77,102
Cross-currency swap contract | Interest expense, net        
Derivatives, Fair Value [Line Items]        
Amounts of Gain (Loss) Recognized in Income 1,715 2,020 3,614 3,967
Accumulated Other Comprehensive Loss        
Derivatives, Fair Value [Line Items]        
Amount of Gain (Loss) Recognized in AOCI on Net Investment Hedges (3,610) (5,200) 23,063 9,190
Accumulated Other Comprehensive Loss | Euro-denominated Long-term Debt        
Derivatives, Fair Value [Line Items]        
Amount of Gain (Loss) Recognized in AOCI (1,544) (4,196) 17,756 (1,538)
Accumulated Other Comprehensive Loss | Cross-currency swap contract        
Derivatives, Fair Value [Line Items]        
Amount of Gain (Loss) Recognized in AOCI $ (2,066) $ (1,004) $ 5,307 $ 10,728