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Financial instruments - Narrative (Details)
3 Months Ended
Apr. 02, 2022
USD ($)
derivative
Apr. 03, 2021
USD ($)
Dec. 31, 2021
USD ($)
Interest Rate Swap      
Debt Instrument [Line Items]      
Number of interest rate swap agreements | derivative 1    
Interest income (expense), net $ 3,924,000 $ 1,565,000  
Derivative, notional amount $ 100,000,000    
Percentage of debt hedged by derivative 28.10%    
Derivative, locked in interest rate 0.64%    
Line of Credit | Revolving Credit Facility      
Debt Instrument [Line Items]      
Revolving credit facility, borrowing capacity $ 50,000,000    
Outstanding borrowings on line of credit 15,000,000   $ 0
Level 2 | Secured Debt      
Debt Instrument [Line Items]      
Long-term debt, fair value $ 322,768,000