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Stock-Based Compensation (Tables)
6 Months Ended
Jul. 02, 2016
Stock-Based Compensation [Abstract]  
Schedule of Stock-Based Compensation Expense

The consolidated statements of operations for the three and six months ended July 2, 2016 and July 4, 2015 include the following stock-based compensation expense related to stock option awards, restricted stock, restricted stock unit awards and the employee stock purchase plan (in thousands):

   Three Months Ended Six Months Ended
   July 2, 2016 July 4, 2015 July 2, 2016 July 4, 2015
Cost of sales $ 656 $ 648 $ 1,327 $ 1,322
Selling and administrative expenses   6,613   6,426   20,582   13,060
Research and development expenses   1,127   1,081   2,328   2,228
 Total stock-based compensation $ 8,396 $ 8,155 $ 24,237 $ 16,610
Relevant Data Used to Determine the Value of Stock Options Granted During the Period

The relevant data used to determine the value of the stock options granted during the six months ended July 2, 2016 and July 4, 2015 are as follows:

  Six Months Ended
Options Issued and Significant Assumptions Used to Estimate Option Fair Values July 2, 2016 July 4, 2015
Options issued (in thousands) 86 37
Risk-free interest rate 1.5% 1.7%
Expected life in years 5 4
Expected volatility 0.286 0.262
Expected dividends  -  -

  Six Months Ended
Weighted-Average Exercise Price and Fair Value of Options on the Date of Grant July 2, 2016 July 4, 2015
Exercise price $ 122.65 $ 116.65
Fair value $ 34.63 $ 28.17
Stock Options Outstanding Roll Forward

The following table summarizes stock option activity for the plans for the six months ended July 2, 2016 (in thousands, except per share data):

    Number of Shares Price per Share Weighted-Average Exercise Price
Outstanding at December 31, 2015 3,154 $38.09to$134.37 $96.73
 Granted 86 $117.68to$130.35 $122.65
 Exercised (252) $41.20to$113.36 $79.21
 Canceled (50) $79.15to$128.93 $109.16
Outstanding at July 2, 2016 2,938 $38.09to$134.37 $98.78
Restricted Stock Units Unvested Roll Forward

The following table summarizes the unvested restricted stock unit award activity for the six months ended July 2, 2016 (in thousands, except for per share data):

   Shares Weighted-Average Price
Unvested at December 31, 2015 497 $104.16
 Granted 136 $117.75
 Vested (135) $97.57
 Forfeited (9) $112.25
Unvested at July 2, 2016  489 $109.61