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Taxes on income from continuing operations (Tables)
6 Months Ended
Jul. 02, 2017
Income Tax Disclosure [Abstract]  
Effective Income Tax Rate
 
Three Months Ended
 
Six Months Ended
 
July 2, 2017
 
June 26, 2016
 
July 2, 2017
 
June 26, 2016
Effective income tax rate
13.4%
 
11.9%
 
7.4%
 
8.8%