Changes in accumulated other comprehensive income (Details) - USD ($) $ in Thousands	3 Months Ended
	Apr. 01, 2023	Apr. 02, 2022
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	$ (278,472)	$ (359,084)
Other comprehensive income before reclassification	22,168	7,556
Amounts reclassified from accumulated other comprehensive income	(6,339)	3,961
Net current-period other comprehensive income	15,829	11,517
End of Period	(262,643)	(347,567)
Accumulated Other Comprehensive (income) Loss, Defined Benefit Plan, Tax	(2,100)	(38,500)
Accumulated Other Comprehensive Income (Loss), Cumulative Changes in Net Gain (Loss) from Cash Flow Hedges, Tax	13,900	6,400
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	(100)	1,000
Unrealized gain on interest rate swap, tax	(2,910)	10,892
Other Comprehensive Income (Loss), Unrealized Gain (loss) Certain Investments, Tax		500
Accumulated Other Comprehensive Income (Loss), Unrealized Gain (Loss) Certain Investments, tax		900
Accumulated Translation Adjustment
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	(205,345)	(97,654)
Other comprehensive income before reclassification	26,959	(27,191)
Amounts reclassified from accumulated other comprehensive income	0	0
Net current-period other comprehensive income	26,959	(27,191)
End of Period	(178,386)	(124,845)
Accumulated Defined Benefit Plans Adjustment
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	(121,701)	(249,696)
Other comprehensive income before reclassification	3,479	(6,244)
Amounts reclassified from accumulated other comprehensive income	670	0
Net current-period other comprehensive income	(2,809)	6,244
End of Period	(124,510)	(243,452)
Accumulated Net Gain (Loss) from Cash Flow Hedges Attributable to Parent | Interest Rate Swap
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	48,574	(13,064)
Other comprehensive income before reclassification	(1,312)	27,155
Amounts reclassified from accumulated other comprehensive income	(7,009)	3,961
Net current-period other comprehensive income	(8,321)	31,116
End of Period	40,253	18,052
AOCI, Accumulated Gain (Loss), Debt Securities, Available-for-Sale, Parent
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	0	1,330
Other comprehensive income before reclassification	0	1,348
Amounts reclassified from accumulated other comprehensive income	0	0
Net current-period other comprehensive income	0	1,348
End of Period	$ 0	$ 2,678