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STOCKHOLDERS’ EQUITY
 9 Months Ended
Sep. 30, 2022
Equity [Abstract]  
STOCKHOLDERS’ EQUITY STOCKHOLDERS’ EQUITY
Share-based Compensation Plans
The following table sets forth the detailed allocation of the share-based compensation expense which was included in the Company’s Condensed Consolidated Statements of Operations:
 Three Months EndedNine Months Ended
(in thousands)September 30, 2022October 1, 2021September 30, 2022October 1, 2021
Cost of revenue$607 $545 $1,691 $1,840 
Research and development expense2,109 2,129 5,988 5,699 
Selling, general and administrative expense3,744 3,762 11,942 11,328 
Total$6,460 $6,436 $19,621 $18,867 
Restricted Stock Units:
(in thousands, except per share amounts)Number
of
Shares		Weighted Average
Grant-Date Fair Value
Per Share
Balance at December 31, 20213,878 $7.31 
Granted2,637 9.25
Vested(2,634)7.48
Forfeited(120)8.39
Balance at September 30, 20223,761 $8.63 
The Company’s stock benefit plans include the 2002 Employee Stock Purchase Plan (“ESPP”) and current active stock plans adopted in 1995 and 2002 (“1995 Stock Plan” and “2002 Director Plan”, respectively). Refer to Note 12, “Employee Benefit Plans” of Notes to Consolidated Financial Statements in the 2021 Form 10-K for details pertaining to each plan.
The Company’s stockholders approved an amendment to the ESPP at the 2022 annual meeting of stockholders (the “2022 Annual Meeting”) to increase the number of shares of common stock reserved for issuance under the ESPP by 1,000,000 shares. The Company’s stockholders also approved an amendment to the 1995 Stock Plan at the 2022 Annual Meeting to increase the number of shares of common stock reserved for issuance thereunder by 7,000,000 shares. As of September 30, 2022, an aggregate of 11,645,946 shares of common stock were reserved for issuance under the 1995 Stock Plan, of which 7,760,174 shares remained available for future grants. As of September 30, 2022, an aggregate of 706,377 shares of common stock were reserved for issuance under the 2002 Director Plan, of which 524,199 shares remained available for future grants.
Share Repurchase Program
On February 3, 2022, the Board of Directors authorized the Company to repurchase up to $100 million of the Company’s outstanding shares of common stock through February 2025. The Company is authorized to repurchase, from time-to-time, shares of its outstanding common stock through open market purchases and 10b5-1 trading plans, in accordance with applicable rules and regulations, at such time and such prices as management may decide. The program does not obligate the Company to repurchase any specific number of shares and may be discontinued at any time. The actual timing and amount of repurchases are subject to business and market conditions, corporate and regulatory requirements, stock price, acquisition opportunities and other factors.
During the nine months ended September 30, 2022, the company repurchased and retired approximately 0.6 million shares of the Company’s common stock for an aggregate amount of $5.1 million. As of September 30, 2022, approximately $94.9 million of the share repurchase authorization remained available for repurchases under this program.