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Taxes on income from continuing operations (Tables)
9 Months Ended
Oct. 01, 2017
Income Tax Disclosure [Abstract]  
Effective Income Tax Rate
 
Three Months Ended
 
Nine Months Ended
 
October 1, 2017
 
September 25, 2016
 
October 1, 2017
 
September 25, 2016
Effective income tax rate
11.2%
 
10.2%
 
8.9%
 
9.3%