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Employee Benefit Plans and Stock-based Compensation (Tables)
 3 Months Ended
Mar. 27, 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 three months ended March 27, 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 March 27, 2020
 
1,558

 
5.84

 
1.9
 
$
1,319


 
 
 
 
 
 
 
 
Vested and expected to vest
 
1,558

 
5.84

 
1.9
 
$
1,319

Exercisable
 
1,558

 
5.84

 
1.9
 
$
1,319
Summary of Restricted Stock Units Outstanding
The following table summarizes the Company’s RSUs activities and related information during the three months ended March 27, 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
 
1,894

 
6.24

Vested
 
(1,790
)
 
5.48

Forfeited
 
(237
)
 
3.84

Balance at March 27, 2020
 
3,468

 
5.69
Schedule of Defined Benefit Plans Obligations
The table below presents the components of net periodic benefit costs (in thousands):
 
Three months ended
 
March 27, 2020
 
March 29, 2019
Service cost
$
61

 
$
57

Interest cost
9

 
20

  Net periodic benefit cost
$
70

 
$
77
Summary of Stock-Based Compensation Expense
Stock-based Compensation
The following table summarizes stock-based compensation for all plans (in thousands):
 
Three months ended
 
March 27,
2020
 
March 29,
2019
Stock-based compensation in:
 
 
 
Cost of revenue
$
770

 
$
225

Research and development expense
1,738

 
616

Selling, general and administrative expense
3,751

 
1,272

Total stock-based compensation in operating expense
5,489

 
1,888

Total stock-based compensation
$
6,259

 
$
2,113
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
$2.24
 
$1.31