Changes in accumulated other comprehensive income (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 30, 2024	Apr. 01, 2023
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	$ (223,198)	$ (278,472)
Other comprehensive income before reclassification	(14,911)	22,168
Amounts reclassified from accumulated other comprehensive income	(7,134)	(6,339)
Net current-period other comprehensive income	(22,045)	15,829
End of Period	(245,243)	(262,643)
Accumulated Other Comprehensive (income) Loss, Defined Benefit Plan, Tax	4,200	(2,100)
Accumulated Other Comprehensive Income (Loss), Cumulative Changes in Net Gain (Loss) from Cash Flow Hedges, Tax	11,100	13,900
Other Comprehensive Income (Loss), Defined Benefit Plan, Gain (Loss), Reclassification Adjustment from AOCI, Tax	200	(100)
Unrealized gain on interest rate swap, tax	108	(2,910)
Accumulated Translation Adjustment
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	(145,490)	(205,345)
Other comprehensive income before reclassification	(26,486)	26,959
Amounts reclassified from accumulated other comprehensive income	0	0
Net current-period other comprehensive income	(26,486)	26,959
End of Period	(171,976)	(178,386)
Accumulated Defined Benefit Plans Adjustment
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	(109,713)	(121,701)
Other comprehensive income before reclassification	(619)	3,479
Amounts reclassified from accumulated other comprehensive income	432	670
Net current-period other comprehensive income	1,051	(2,809)
End of Period	(108,662)	(124,510)
Accumulated Net Gain (Loss) from Cash Flow Hedges Attributable to Parent | Interest Rate Swap
Accumulated Other Comprehensive Income [Roll Forward]
Beginning of Period	32,005	48,574
Other comprehensive income before reclassification	10,956	(1,312)
Amounts reclassified from accumulated other comprehensive income	(7,566)	(7,009)
Net current-period other comprehensive income	3,390	(8,321)
End of Period	$ 35,395	$ 40,253