Shareholders' equity - Change in accumulated other comprehensive income, net of tax (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Apr. 02, 2023
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ 4,440,988	$ 4,021,968
Other comprehensive income (loss) before reclassifications	(25,486)	23,646
Amounts reclassified from accumulated other comprehensive (loss) income	78,837	(1,455)
Net current-period other comprehensive income (loss)	53,351	22,191
Ending balance	4,503,210	4,110,253
Cash Flow Hedges
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	1,396	4,931
Other comprehensive income (loss) before reclassifications	2,457	5,260
Amounts reclassified from accumulated other comprehensive (loss) income	(1,779)	(2,852)
Net current-period other comprehensive income (loss)	678	2,408
Ending balance	2,074	7,339
Pension and Other Postretirement Benefit Plans
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(88,049)	(135,799)
Other comprehensive income (loss) before reclassifications	8,726	(184)
Amounts reclassified from accumulated other comprehensive (loss) income	80,616	1,397
Net current-period other comprehensive income (loss)	89,342	1,213
Ending balance	1,293	(134,586)
Foreign Currency Translation Adjustment
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(227,752)	(272,654)
Other comprehensive income (loss) before reclassifications	(36,669)	18,570
Amounts reclassified from accumulated other comprehensive (loss) income	0	0
Net current-period other comprehensive income (loss)	(36,669)	18,570
Ending balance	(264,421)	(254,084)
Accumulated Other Comprehensive (Loss) Income
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(314,405)	(403,522)
Ending balance	$ (261,054)	$ (381,331)