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Derivative financial instruments - Narratives (Details)	3 Months Ended		6 Months Ended
Derivative financial instruments - Narratives (Details)	Jul. 03, 2021 USD ($)	Jun. 27, 2020 USD ($)	Jul. 03, 2021 USD ($)	Jun. 27, 2020 USD ($)	Jul. 03, 2021 EUR (€)	Feb. 28, 2021 USD ($)	Jan. 02, 2021 USD ($)	Jan. 02, 2021 EUR (€)
Derivative
Debt instrument principal amount						$ 6,900,000
Interest rate swaps due June 30, 2020 through June 30, 2023
Derivative
Notional amount of derivative contracts	$ 870,000,000.0		$ 870,000,000.0				$ 870,000,000.0
July 1, 2019 to June 30, 2023
Derivative
Notional amount of derivative contracts \| €					€ 425,000,000.0			€ 425,000,000.0
Not designated as hedging instrument
Derivative
Gain (loss) on derivative, recognized in the income statement	200,000	$ (400,000)	2,000,000.0	$ 400,000
Not designated as hedging instrument \| —Currency swaps
Derivative
Notional amount of derivative contracts	270,000,000.0		270,000,000.0				270,000,000.0
Not designated as hedging instrument \| Forward contracts
Derivative
Notional amount of derivative contracts	126,700,000		126,700,000				$ 87,600,000
Derivatives designated as hedging instruments: \| Euro Term Loan \| Secured debt \| Net investment hedges
Derivative
Debt instrument principal amount \| €					€ 147,000,000.0			€ 147,000,000.0
Derivatives designated as hedging instruments: \| —Currency swaps \| Net investment hedges \| Interest expense
Derivative
Gain (loss) on derivative, recognized in the income statement	$ 400,000	$ 1,300,000	$ 900,000	$ 2,900,000