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Stock-Based Compensation Expense (Tables)
 3 Months Ended
Apr. 04, 2021
Share-based Payment Arrangement [Abstract]  
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity for the three-month period ended April 4, 2021:
Shares
(in thousands)		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Term (in years)		Aggregate
Intrinsic
Value
(in thousands)
Outstanding as of December 31, 20208,970 $44.73 
Granted421 90.50 
Exercised(897)38.82 
Forfeited or expired(42)48.68 
Outstanding as of April 4, 20218,452 $47.62 7.11$312,675 
Exercisable as of April 4, 20213,824 $38.18 5.92$176,405 
Options vested or expected to vest as of April 4, 2021 (1)7,733 $46.78 7.00$292,344 
 (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 4, 2021March 29, 2020
Risk-free rate1.3 %1.6 %
Expected dividend yield0.27 %0.43 %
Expected volatility39 %37 %
Expected term (in years)5.76.0
Schedule of Nonvested Restricted Stock Units Activity
The following table summarizes the Company's RSUs activity for the three-month period ended April 4, 2021:
Shares
(in thousands)		Weighted-Average
Grant Date Fair Value
Nonvested as of December 31, 2020554 $51.27 
Granted245 89.86 
Vested(2)50.94 
Forfeited or expired(15)52.22 
Nonvested as of April 4, 2021782 $63.33 
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 4, 2021March 29, 2020
Cost of revenue$248 $354 
Research, development, and engineering4,003 5,366 
Selling, general, and administrative7,758 9,070 
$12,009 $14,790