Financial instruments - Fair values of derivative instruments designated as hedging instruments (Details) - Cash flow hedging - USD ($) $ in Thousands	Jul. 02, 2023	Dec. 31, 2022
Derivatives Fair Value [Line Items]
Total asset derivatives	$ 49,281	$ 63,610
Total liability derivatives	3,411	1,460
Other assets
Derivatives Fair Value [Line Items]
Total asset derivatives	0	11,912
Foreign exchange contract | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	49,281	51,698
Foreign exchange contract | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	3,411	1,460
Foreign exchange contract | Designated as hedging instrument | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	7,230	3,154
Foreign exchange contract | Designated as hedging instrument | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	3,162	983
Foreign exchange contract | Not designated as hedging instrument | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	145	41
Foreign exchange contract | Not designated as hedging instrument | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	249	477
Cross-currency interest rate swaps | Not designated as hedging instrument | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	41,906	48,503
Cross-currency interest rate swaps | Not designated as hedging instrument | Other assets
Derivatives Fair Value [Line Items]
Total asset derivatives	$ 0	$ 11,912