Acquisition and disposal related costs - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended	6 Months Ended
Jun. 30, 2024	Jul. 02, 2023	Jun. 30, 2024	Jul. 02, 2023
Asset Acquisition [Line Items]
Loss on held for sale asset group			$ 7.5	$ 0.0
Graphic Arts
Asset Acquisition [Line Items]
Loss on held for sale asset group	$ 7.5	$ 0.0	7.5	0.0
Disposal related costs	$ 1.7	$ 0.0	$ 1.9	$ 0.0

Amount, before tax, of (gain) loss recognized for the (reversal of write-down) write-down to fair value, less cost to sell, of a disposal group. Excludes discontinued operations.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 5
-SubTopic 10
-Topic 360
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147482130/360-10-45-5

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 28
-Subparagraph (b)
-SubTopic 10
-Topic 230
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147482740/230-10-45-28

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 360
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147482099/360-10-50-3

Name:	us-gaap_DisposalGroupNotDiscontinuedOperationLossGainOnWriteDown
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration