Financial instruments - Additional information (Details) € in Millions			3 Months Ended		6 Months Ended
	Apr. 25, 2024 USD ($) counterparty agreement	Feb. 26, 2024 USD ($) agreement	Jun. 30, 2024 USD ($)	Jul. 02, 2023 USD ($)	Jun. 30, 2024 USD ($)	Jul. 02, 2023 USD ($)	Apr. 25, 2024 EUR (€) counterparty agreement	Dec. 31, 2023 USD ($) counterparty	Dec. 31, 2023 EUR (€) counterparty	Dec. 31, 2019 USD ($) counterparty	Dec. 31, 2019 EUR (€) counterparty
Derivatives Fair Value [Line Items]
Allowance for credit losses			$ 9,100,000		$ 9,100,000			$ 9,500,000
Allowance for credit losses, current			5,400,000		5,400,000			5,500,000
Cash flow hedging
Derivatives Fair Value [Line Items]
Ineffectiveness related to derivatives			0	$ 0	0	$ 0
Designated as hedging instrument
Derivatives Fair Value [Line Items]
Loss on sale of derivatives	$ 400,000
Foreign exchange contract | Not designated as hedging instrument
Derivatives Fair Value [Line Items]
Gains (losses) on derivatives			100,000	$ (2,000,000.0)	(3,500,000)	$ (2,100,000)
Total notional amount for all open foreign currency forward contracts			173,400,000		$ 173,400,000			195,000,000.0
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			$ 302,200,000		$ 302,200,000			234,100,000
Cross-currency interest rate swaps | Designated as hedging instrument
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts								$ 500,000,000
Derivative, number of counterparties | counterparty								6	6	5	5
Proceeds from derivative instrument, investing activities		$ 12,100,000
Number of new agreements | agreement	2	2					2
Cross-currency interest rate swaps | Designated as hedging instrument | Short
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts								$ 500,000,000		$ 250,000,000
Derivative, fixed interest rate								4.63%	4.63%	4.88%	4.88%
Cross-currency interest rate swaps | Designated as hedging instrument | Long
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts | €									€ 474.7		€ 219.2
Derivative, fixed interest rate								3.05%	3.05%	2.46%	2.46%
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument
Derivatives Fair Value [Line Items]
Derivative, number of counterparties | counterparty	5						5
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Short
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts	$ 250,000,000	$ 250,000,000
Derivative, fixed interest rate	4.25%						4.25%
Cross Currency Interest Rate Contract, Expiring 2027 | Designated as hedging instrument | Long
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts | €							€ 233.4
Derivative, fixed interest rate	2.44%						2.44%
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument
Derivatives Fair Value [Line Items]
Derivative, number of counterparties | counterparty	4						4
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Short
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts	$ 250,000,000
Derivative, fixed interest rate	4.25%						4.25%
Cross Currency Interest Rate Contract, Expiring 2029 | Designated as hedging instrument | Long
Derivatives Fair Value [Line Items]
Total notional amount for all open foreign currency forward contracts | €							€ 233.4
Derivative, fixed interest rate	2.45%						2.45%