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Financial instruments and derivatives - Effect of Derivative Instruments on Financial Performance (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2019	Sep. 29, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2018	Sep. 30, 2018	Jul. 01, 2018	Apr. 01, 2018	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Derivative Instruments, Gain (Loss) [Line Items]
Revenue	$ 1,308,850	$ 1,353,931	$ 1,359,721	$ 1,351,705	$ 1,355,616	$ 1,364,762	$ 1,366,373	$ 1,304,187	$ 5,374,207	$ 5,390,938	$ 5,036,650
Cost of sales									4,316,378	4,349,932	$ 4,077,998
Gains and Losses on Cash Flow Hedges \| Reclassification out of Accumulated Other Comprehensive Income
Derivative Instruments, Gain (Loss) [Line Items]
Revenue									1,381	(203)
Cost of sales									1,488	(95)
Foreign exchange contracts
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain or (Loss) Recognized in OCI on Derivative (Effective Portion)									2,495	(2,354)
Foreign exchange contracts \| Gains and Losses on Cash Flow Hedges \| Reclassification out of Accumulated Other Comprehensive Income
Derivative Instruments, Gain (Loss) [Line Items]
Revenue									1,381	(203)
Cost of sales									1,758	20
Foreign exchange contracts \| Net sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain or (Loss) Reclassified from Accumulated OCI Into Income (Effective Portion)									1,381	(203)
Foreign exchange contracts \| Cost of sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain or (Loss) Reclassified from Accumulated OCI Into Income (Effective Portion)									(1,758)	(20)
Foreign exchange contracts \| Cost of sales \| Derivatives not designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized									0	0
Foreign exchange contracts \| Selling, general and administrative \| Derivatives not designated as hedging instruments
Derivative Instruments, Gain (Loss) [Line Items]
Gain or (Loss) Recognized									(704)	41
Commodity contracts
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain or (Loss) Recognized in OCI on Derivative (Effective Portion)									216	258
Commodity contracts \| Gains and Losses on Cash Flow Hedges \| Reclassification out of Accumulated Other Comprehensive Income
Derivative Instruments, Gain (Loss) [Line Items]
Revenue									0	0
Cost of sales									(270)	(115)
Commodity contracts \| Cost of sales
Derivative Instruments, Gain (Loss) [Line Items]
Amount of Gain or (Loss) Reclassified from Accumulated OCI Into Income (Effective Portion)									$ 270	$ 115