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Employee Benefit Plans and Stock-based Compensation (Tables)
 6 Months Ended
Jun. 26, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Stock Options Outstanding
The following table summarizes the Company’s stock option activities and related information during the six months ended June 26, 2020 (in thousands, except per share amounts and terms):
 
 
Stock Options Outstanding
 
 
Number
of
Shares
 
Weighted
Average
Exercise Price
Per Share
 
Weighted
Average
Remaining
Contractual
Term (Years)
 
Aggregate
Intrinsic
Value
Balance at December 31, 2019
 
1,888

 
$
5.83

 
 
 
 
Exercised
 
(127
)
 
5.78

 
 
 
 
Canceled or expired
 
(203
)
 
5.78

 
 
 
 
Balance at June 26, 2020
 
1,558

 
5.84

 
1.68
 
$
655.80


 
 
 
 
 
 
 
 
Vested and exercisable
 
1,558

 
5.84

 
1.68
 
$
655.80
Summary of Restricted Stock Units Outstanding
The following table summarizes the Company’s RSUs activities and related information during the six months ended June 26, 2020 (in thousands, except per share amounts):
 
 
Restricted Stock Units Outstanding
 
 
Number
of
Shares
 
Weighted
Average Grant
Date Fair Value
Per Share
Balance at December 31, 2019
 
3,601

 
$
5.18

Granted
 
2,797

 
5.85

Vested
 
(2,128
)
 
5.42

Forfeited
 
(257
)
 
3.89

Balance at June 26, 2020
 
4,013

 
5.60
Schedule of Defined Benefit Plans Obligations The table below presents the components of net periodic benefit costs (in thousands):
 
Three months ended
 
Six months ended
 
June 26, 2020
 
June 28, 2019
 
June 26, 2020
 
June 28, 2019
Service cost
$
61

 
$
57

 
$
122

 
$
114

Interest cost
9

 
19

 
18

 
39

  Net periodic benefit cost
$
70

 
$
76

 
$
140

 
$
153
Summary of Stock-Based Compensation Expense
Stock-based Compensation
The following table summarizes stock-based compensation for all plans (in thousands):
 
Three months ended
 
Six months ended
 
June 26,
2020
 
June 28,
2019
 
June 26,
2020
 
June 28,
2019
Stock-based compensation in:
 
 
 
 
 
 
 
Cost of revenue
$
312

 
$
195

 
$
1,082

 
$
420

Research and development expense
872

 
582

 
2,610

 
1,198

Selling, general and administrative expense
2,364

 
1,733

 
6,115

 
3,005

Total stock-based compensation in operating expense
3,236

 
2,315

 
8,725

 
4,203

Total stock-based compensation
$
3,548

 
$
2,510

 
$
9,807

 
$
4,623
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions
 
ESPP Purchase Period Ending
 
July 1,
2020
 
July 1,
2019
Expected term (years)
0.5

 
0.5

Volatility
50
%
 
43
%
Risk-free interest rate
1.6
%
 
2.5
%
Expected dividends
0.0
%
 
0.0
%
Estimated weighted average fair value per share at purchase date
$2.26
 
$1.31