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Financial instruments (Tables)
 3 Months Ended
Mar. 28, 2021
Derivative Instruments and Hedging Activities Disclosure [Abstract]  
Fair Values of Derivative Instruments Designated as Hedging Instruments
The following table presents the locations in the condensed consolidated balance sheet and fair value of derivative financial instruments as of March 28, 2021 and December 31, 2020:
March 28, 2021December 31, 2020
Asset derivatives:  
Designated foreign currency forward contracts$1,098 $1,691 
Non-designated foreign currency forward contracts212 61 
Cross-currency interest rate swaps25,575 20,106 
Prepaid expenses and other current assets26,885 21,858 
Total asset derivatives$26,885 $21,858 
Liability derivatives:  
Designated foreign currency forward contracts$1,706 $1,504 
Non-designated foreign currency forward contracts216 366 
Other current liabilities1,922 1,870 
Cross-currency interest rate swaps12,054 34,125 
Other liabilities12,054 34,125 
Total liability derivatives$13,976 $35,995