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Debt - long-term debt (Details) - USD ($)
$ in Thousands
Jul. 01, 2017
Dec. 31, 2016
Jul. 02, 2016
Debt Instrument [Line Items]      
Long-term debt before discount and debt issuance costs $ 1,742,612   $ 1,351,551
Discount and debt issuance costs - unamortized (13,400)   (12,347)
Long-term debt $ 1,729,212   $ 1,339,204
Accounts receivable securitization program      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate     0.93%
Notes Due September 2016      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate     6.63%
Notes Due December 2021      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate   3.75%  
Revolving credit facilities      
Debt Instrument [Line Items]      
Long-term Debt, Weighted Average Interest Rate 2.77%   1.72%
Long-term debt before discount and debt issuance costs $ 99,970   $ 150,000
Revolving credit facilities | Accounts receivable securitization program      
Debt Instrument [Line Items]      
Long-term Debt, Weighted Average Interest Rate 1.53%    
Long-term debt before discount and debt issuance costs $ 142,000    
Notes due | Notes Due June 2020      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate 5.88%   5.88%
Long-term debt before discount and debt issuance costs $ 300,000   $ 300,000
Notes due | Notes Due December 2021      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate 3.75%    
Long-term debt before discount and debt issuance costs $ 300,000    
Notes due | Notes Due December 2022      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate 4.88%   4.88%
Long-term debt before discount and debt issuance costs $ 350,000   $ 350,000
Notes due | Notes Due April 2026      
Debt Instrument [Line Items]      
Long-term debt, stated interest rate 4.63%   4.63%
Long-term debt before discount and debt issuance costs $ 550,000   $ 550,000
Other long-term debt      
Debt Instrument [Line Items]      
Long-term Debt, Weighted Average Interest Rate 1.36%   1.92%
Long-term debt before discount and debt issuance costs $ 642   $ 1,551