2:35 is tight for this. Things that make it less tight are premium cabin (priority deplaning and baggage delivery), cabin baggage only (no waiting for baggage delivery, no need to check baggage with WN) and Global Entry (you'd have to have it for every member of your party). If you don't have at least one of those, it will probably be tight.
If CDG-DTW goes IRROPS, all bets are off.