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Taxes on income from continuing operations (Tables)
 6 Months Ended
Jun. 30, 2024
Income Tax Disclosure [Abstract]  
Effective Income Tax Rate
 Three Months EndedSix Months Ended
 June 30, 2024July 2, 2023June 30, 2024July 2, 2023
Effective income tax rate (1)
17.8%12.2%(33.8)%15.9%
(1) The effective income tax rate for the three months ended June 30, 2024 and the three and six months ended July 2, 2023 represent income tax expenses. The effective income tax rate for the six months ended June 30, 2024 represents an income tax benefit.