Financial instruments - Fair values of derivative instruments designated as hedging instruments (Details) - Cash flow hedging - USD ($) $ in Thousands	Oct. 01, 2023	Dec. 31, 2022
Derivatives Fair Value [Line Items]
Total asset derivatives	$ 71,946	$ 63,610
Total liability derivatives	3,241	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	71,946	51,698
Foreign exchange contract | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	3,241	1,460
Foreign exchange contract | Designated as hedging instrument | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	4,288	3,154
Foreign exchange contract | Designated as hedging instrument | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	2,819	983
Foreign exchange contract | Not designated as hedging instrument | Prepaid expenses and other current assets
Derivatives Fair Value [Line Items]
Total asset derivatives	158	41
Foreign exchange contract | Not designated as hedging instrument | Other current liabilities
Derivatives Fair Value [Line Items]
Total liability derivatives	422	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	67,500	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