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Shareholders' equity - Additional Information (Details) - shares
shares in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jul. 01, 2018
Jun. 30, 2019
Jul. 01, 2018
Shareholders Equity [Line Items]        
Weighted average antidilutive shares which were not included in the calculation of earnings per share   1.2    
Equity Option        
Shareholders Equity [Line Items]        
Weighted average antidilutive shares which were not included in the calculation of earnings per share 0.2 2.0 0.2 0.7