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Shareholders' equity - Additional Information (Details) - USD ($)
shares in Millions, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2018
Oct. 01, 2017
Sep. 30, 2018
Oct. 01, 2017
Equity Option        
Shareholders Equity [Line Items]        
Weighted average antidilutive shares which were not included in the calculation of earnings per share 0.7 0.6 0.7 0.6
Convertible Debt        
Shareholders Equity [Line Items]        
Debt instrument, face amount $ 400   $ 400