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Stock-Based Compensation Expense (Tables)
 9 Months Ended
Oct. 02, 2022
Share-Based Payment Arrangement [Abstract]  
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity for the nine-month period ended October 2, 2022:
Shares
(in thousands)		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Term (in years)		Aggregate
Intrinsic
Value
(in thousands)
Outstanding as of December 31, 20217,610 $49.38 
Granted1,399 59.79 
Exercised(158)41.83 
Forfeited or expired(170)58.01 
Outstanding as of October 2, 20228,681 $51.03 6.40$22,376 
Exercisable as of October 2, 20224,335 $43.54 5.08$22,334 
Options vested or expected to vest as of October 2, 2022 (1)8,189 $50.48 6.27$22,375 
 (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 EndedNine-months Ended
 October 2, 2022October 3, 2021October 2, 2022October 3, 2021
Risk-free rate2.7 %1.4 %2.1 %1.3 %
Expected dividend yield0.54 %0.28 %0.44 %0.27 %
Expected volatility37 %39 %37 %39 %
Expected term (in years)6.47.15.56.0
Schedule of Nonvested Restricted Stock Units Activity
The following table summarizes the Company's RSUs activity for the nine-month period ended October 2, 2022:
Shares
(in thousands)		Weighted-Average
Grant Date Fair Value
Nonvested as of December 31, 2021823 $65.26 
Granted691 58.44 
Vested(141)65.33 
Forfeited or expired(61)65.18 
Nonvested as of October 2, 20221,312 $61.67 
Schedule of Nonvested Performance-based Units Activity
The following table summarizes the Company's PRSUs activity for the nine-month period ended October 2, 2022:
Shares
(in thousands)		Weighted-Average
Grant Date Fair Value
Nonvested as of December 31, 2021— $— 
Granted33 62.49 
Vested— — 
Forfeited or expired— — 
Nonvested as of October 2, 202233 $62.49 
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 EndedNine-months Ended
 October 2, 2022October 3, 2021October 2, 2022October 3, 2021
Cost of revenue$468 $366 $1,513 $965 
Research, development, and engineering4,209 3,091 12,508 10,158 
Selling, general, and administrative8,689 7,157 27,398 22,230 
$13,366 $10,614 $41,419 $33,353