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Stock Plans (Tables)
 12 Months Ended
Jan. 03, 2021
Share-based Payment Arrangement [Abstract]  
Summary of Total Compensation Recognized Related to Outstanding Equity Awards
The following table summarizes total pre-tax compensation expense recognized related to the Company’s stock options, restricted stock, restricted stock units, performance restricted stock units, performance units and stock grants, included in the Company’s consolidated statements of operations for fiscal years 2020, 2019 and 2018:
 
 January 3,
2021		December 29,
2019		December 30,
2018
 (In thousands)
Cost of product and service revenue$1,388 $1,620 $1,466 
Research and development expenses1,228 1,061 1,359 
Selling, general and administrative expenses26,510 28,833 25,942 
Total stock-based compensation expense$29,126 $31,514 $28,767 
Weighted-Average Assumptions Used in the Black-Scholes Option Pricing Model The Company’s weighted-average assumptions used in the Black-Scholes option pricing model were as follows for the fiscal years ended:
 
January 3,
2021		December 29,
2019		December 30,
2018
Risk-free interest rate0.9 %2.5 %3.0 %
Expected dividend yield0.3 %0.3 %0.4 %
Expected lives5 years5 years5 years
Expected stock volatility23.8 %22.8 %20.7 %
Summary of Stock Option Activity
The following table summarizes stock option activity for the fiscal year ended January 3, 2021:
 
 Number
of
Shares		Weighted-
Average Exercise
Price
 (Shares in thousands)
Outstanding at beginning of year1,535 $60.42 
Granted266 86.87 
Exercised(764)49.31 
Canceled(1)95.74 
Forfeited(75)87.34 
Outstanding at end of year961 $74.40 
Exercisable at end of year562 $65.30 
Summary of Restricted Stock Award Activity
The following table summarizes restricted stock award activity for the fiscal year ended January 3, 2021:
 
Number
of
Shares		Weighted-
Average
Grant-
Date Fair
Value
 (Shares in thousands)
Nonvested at beginning of year345 $78.69 
Granted184 84.83 
Vested(193)72.28 
Forfeited(40)86.32 
Nonvested at end of year296 $85.67