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Shareholders' equity - Change in accumulated other comprehensive income, net of tax (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 28, 2021
Mar. 29, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning Balance $ 3,336,457 $ 2,979,320
Ending Balance 3,375,791 3,073,024
Cash Flow Hedges    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning Balance (482) 735
Other comprehensive (loss) income before reclassifications (811) (3,760)
Amounts reclassified from accumulated other comprehensive income 838 (57)
Net current-period other comprehensive (loss) income 27 (3,817)
Ending Balance (455) (3,082)
Pension and Other Postretirement Benefit Plans    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning Balance (150,257) (138,810)
Other comprehensive (loss) income before reclassifications 161 263
Amounts reclassified from accumulated other comprehensive income 1,450 1,426
Net current-period other comprehensive (loss) income 1,611 1,689
Ending Balance (148,646) (137,121)
Foreign Currency Translation Adjustment    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning Balance (146,559) (206,317)
Other comprehensive (loss) income before reclassifications (24,075) (18,199)
Amounts reclassified from accumulated other comprehensive income 0 0
Net current-period other comprehensive (loss) income (24,075) (18,199)
Ending Balance (170,634) (224,516)
Accumulated Other Comprehensive (Loss) Income    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning Balance (297,298) (344,392)
Other comprehensive (loss) income before reclassifications (24,725) (21,696)
Amounts reclassified from accumulated other comprehensive income 2,288 1,369
Net current-period other comprehensive (loss) income (22,437) (20,327)
Ending Balance $ (319,735) $ (364,719)