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Stock-Based Compensation (Tables)
9 Months Ended
Oct. 01, 2016
Stock-Based Compensation [Abstract]  
Schedule of Stock-Based Compensation Expense

The consolidated statements of operations for the three and nine months ended October 1, 2016 and October 3, 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 Nine Months Ended
   October 1, 2016 October 3, 2015 October 1, 2016 October 3, 2015
Cost of sales $ 731 $ 668 $ 2,058 $ 1,990
Selling and administrative expenses   6,944   6,626   27,526   19,686
Research and development expenses   692   1,053   3,020   3,281
 Total stock-based compensation $ 8,367 $ 8,347 $ 32,604 $ 24,957
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 nine months ended October 1, 2016 and October 3, 2015 are as follows:

  Nine Months Ended
Options Issued and Significant Assumptions Used to Estimate Option Fair Values October 1, 2016 October 3, 2015
Options issued (in thousands) 86 115
Risk-free interest rate 1.5% 1.4%
Expected life in years 5 4
Expected volatility 0.286 0.291
Expected dividends  -  -

  Nine Months Ended
Weighted-Average Exercise Price and Fair Value of Options on the Date of Grant October 1, 2016 October 3, 2015
Exercise price $ 122.65 $ 121.33
Fair value $ 34.63 $ 30.85
Stock Options Outstanding Roll Forward

The following table summarizes stock option activity for the plans for the nine months ended October 1, 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 (700) $41.20to$113.36 $76.98
 Canceled (50) $79.15to$128.93 $109.55
Outstanding at October 1, 2016 2,490 $38.09to$134.37 $102.92
Restricted Stock Units Unvested Roll Forward

The following table summarizes the unvested restricted stock unit award activity for the nine months ended October 1, 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 (143) $98.76
 Forfeited (11) $109.85
Unvested at October 1, 2016  479 $109.50