Financial instruments - Additional information (Details) € in Millions		3 Months Ended		9 Months Ended
	Oct. 04, 2023 USD ($)	Oct. 01, 2023 USD ($)	Sep. 25, 2022 USD ($)	Oct. 01, 2023 USD ($)	Sep. 25, 2022 USD ($)	Oct. 02, 2023 USD ($) counterparty	Oct. 02, 2023 EUR (€) counterparty	Dec. 31, 2022 USD ($)	Dec. 31, 2019 USD ($) counterparty	Dec. 31, 2019 EUR (€) counterparty	Dec. 31, 2018 USD ($) counterparty	Dec. 31, 2018 EUR (€) counterparty
Derivatives Fair Value [Line Items]
Allowance for credit losses		$ 9,100,000		$ 9,100,000				$ 8,600,000
Allowance for credit losses, current		5,200,000		5,200,000				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		(1,000,000.0)	$ (1,000,000)	1,000,000.0	$ (4,200,000)
Total notional amount for all open foreign currency forward contracts		140,300,000		$ 140,300,000				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		$ 238,100,000		$ 238,100,000				$ 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 | counterparty									5	5	6	6
Derivative, fixed interest rate									4.88%	4.88%	4.63%	4.63%
Derivative, annual interest rate									2.46%	2.46%	1.94%	1.94%
Cross-currency interest rate swaps | Designated as hedging instrument | Subsequent event
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts						$ 500,000,000	€ 474.7
Derivative, number of instruments held | counterparty						6	6
Derivative, fixed interest rate						4.63%	4.63%
Derivative, annual interest rate						3.05%	3.05%
Proceeds from derivative instrument, investing activities	$ 43,000,000