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Stock-Based Compensation Expense (Tables)
 3 Months Ended
Apr. 02, 2017
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity for the three-month period ended April 2, 2017:
 
Shares
(in thousands)
 
Weighted-
Average
Exercise
Price
 
Weighted-
Average
Remaining
Contractual
Term (in years)
 
Aggregate
Intrinsic
Value
(in thousands)
Outstanding as of December 31, 2016
6,433

 
$
32.16

 
 
 
 
Granted
1,849

 
76.78

 
 
 
 
Exercised
(1,087
)
 
26.81

 
 
 
 
Forfeited or expired
(29
)
 
36.01

 
 
 
 
Outstanding as of April 2, 2017
7,166

 
$
44.47

 
8.02
 
$
282,876

Exercisable as of April 2, 2017
2,256

 
$
26.49

 
5.95
 
$
129,647

Options vested or expected to vest as of April 2, 2017 (1)
6,167

 
$
42.66

 
7.82
 
$
254,614

 

(1) In addition to the vested options, the Company expects a portion of the unvested options to vest at some point in the future. Options expected to vest are calculated by applying an estimated forfeiture rate to the unvested options.
Weighted-Average Assumptions Used in Estimating Fair Values of Stock Options Granted
The fair values of stock options granted in each period presented were estimated using the following weighted-average assumptions:
 
Three-months Ended
 
April 2, 2017
 
April 3, 2016
Risk-free rate
2.4
%
 
1.7
%
Expected dividend yield
0.39
%
 
0.84
%
Expected volatility
41
%
 
41
%
Expected term (in years)
5.3

 
5.5
Nonvested Restricted Stock Shares Activity
The following table summarizes the Company's restricted stock activity for the three-month period ended April 2, 2017:
 
Shares (in thousands)
 
Weighted-Average Grant Fair Value
 
Aggregate Intrinsic Value (in thousands)(1)
Nonvested as of December 31, 2016
20

 
$
34.05

 
 
Granted
—

 
—

 
 
Vested
—

 
—

 
 
Forfeited or expired
—

 
—

 
 
Nonvested as of April 2, 2017
20

 
$
34.05

 
$
1,679
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The following table presents the stock-based compensation expense by caption for each period presented on the Consolidated Statements of Operations (in thousands):
 
Three-months Ended
 
April 2, 2017
 
April 3, 2016
Cost of revenue
$
430

 
$
293

Research, development, and engineering
2,610

 
2,179

Selling, general, and administrative
4,443

 
4,332

 
$
7,483

 
$
6,804