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Changes in shareholders' equity - additional information (Details) - USD ($)
$ / shares in Units, shares in Millions
3 Months Ended 6 Months Ended
Jun. 28, 2015
Jun. 29, 2014
Jun. 28, 2015
Jun. 29, 2014
Dec. 31, 2007
Shareholders Equity [Line Items]          
Repurchase of outstanding common stock, authorized amount         $ 300,000,000
Debt instrument, stated interest rate 3.875% 3.875% 3.875% 3.875%  
Equity Option          
Shareholders Equity [Line Items]          
Weighted average antidilutive which were not included in the calculation of earnings per share 5.6 6.4 5.7 6.5  
Convertible Note          
Shareholders Equity [Line Items]          
Weighted average antidilutive which were not included in the calculation of earnings per share 3.3 2.7 3.2 2.6  
Per share market price of common stock $ 61.32   $ 61.32    
Strike price of warrents     $ 74.65    
Conversion of convertible notes, shares issued upon conversion 2.7 1.9 2.5 1.7