Financial instruments - Additional information (Details) € in Millions	3 Months Ended		6 Months Ended
	Jul. 02, 2023 USD ($)	Jun. 26, 2022 USD ($)	Jul. 02, 2023 USD ($)	Jun. 26, 2022 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2019 USD ($) Financial_Institution_Counterparty	Dec. 31, 2019 EUR (€) Financial_Institution_Counterparty	Dec. 31, 2018 USD ($) Financial_Institution_Counterparty	Dec. 31, 2018 EUR (€) Financial_Institution_Counterparty
Derivatives Fair Value [Line Items]
Allowance for credit losses	$ 9,500,000		$ 9,500,000		$ 8,600,000
Allowance for credit losses, current	5,500,000		5,500,000		4,900,000
Cash flow hedging
Derivatives Fair Value [Line Items]
Ineffectiveness related to derivatives	0	$ 0
Foreign exchange contract | Not designated as hedging instrument
Derivatives Fair Value [Line Items]
Gains (losses) on derivatives	2,000,000.0	$ 100,000	2,100,000	$ (3,200,000)
Total notional amount for all open foreign currency forward contracts	137,100,000		$ 137,100,000		152,900,000
Derivative, term of contract			12 months
Foreign exchange contract | Designated as hedging instrument | Cash flow hedging
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts	$ 222,300,000		$ 222,300,000		$ 184,800,000
Cross-currency interest rate swaps | Designated as hedging instrument
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts						$ 250,000,000	€ 219.2	$ 500,000,000	€ 433.9
Derivative, number of instruments held | Financial_Institution_Counterparty						5	5	6	6
Derivative, fixed interest rate						4.875%	4.875%	4.625%	4.625%
Derivative, annual interest rate						2.4595%	2.4595%	1.942%	1.942%