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Stock-Based Compensation (Tables)
3 Months Ended
Apr. 03, 2021
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of Stock-Based Compensation Expense
The consolidated statements of operations for the three months ended April 3, 2021 and March 28, 2020 include the following stock-based compensation expense related to stock option awards, restricted stock awards, restricted stock unit awards, performance stock unit awards and the employee stock purchase plan (in thousands):
 
    
Three Months Ended
 
    
April 3, 2021
    
March 28, 2020
 
Cost of sales
   $ 633      $ 570  
Selling and administrative expenses
     6,420        7,373  
Research and development expenses
     1,252        1,253  
    
 
 
    
 
 
 
Total stock-based compensation
   $ 8,305      $ 9,196  
    
 
 
    
 
 
 
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 three months ended April 3, 2021 and March 28, 2020 are as follows:
 
 
  
Three Months Ended
 
Options Issued and Significant Assumptions Used to Estimate Option Fair Values
  
April 3, 2021
 
 
March 28, 2020
 
Options issued in thousands
     139       227  
Risk-free interest rate
     0.8     1.4
Expected life in years
  
 
6
 
 
 
6
 
Expected volatility
     33.1     26.5
Expected dividend
s
           —    
   
Stock Options Outstanding Roll Forward
 
 
  
Three Months Ended
 
Weighted-Average Exercise Price and Fair Value of Options on the Date of Grant
  
April 3, 2021
 
 
March 28, 2020
 
Exercise price
  
$
277.32
 
 
$
216.08
 
Fair value
  
$
91.63
 
 
$
61.70
 
Stock Options Outstanding by Exercise Price Range
 
The following table summarizes stock option activity for the plans for the three months ended April 3, 2021 (in thousands, except per share data):
 
 
  
Number of Shares
 
  
Exercise Price per Share
 
  
Weighted-Average

Exercise Price per
Share
 
Outstanding at December 31, 2020
     1,067      $ 75.94
 
 
to
 
$
238.52
     $ 179.59  
Granted
     139      $ 250.15
 
 
to
 
$
280.80
     $ 277.32  
Exercised
     (95    $ 99.22
 
 
to
 
$
238.52
     $ 159.10  
Canceled
     (125    $ 139.51
 
 
to
 
$
224.37
     $ 183.98  
    
 
 
        
 
 
 
 
 
 
          
Outstanding at April 3, 2021
     986      $ 75.94
 
 
to
 
$
266.05
     $ 194.77  
    
 
 
        
 
 
 
 
 
 
          
Restricted Stock Units Unvested Roll Forward
The following table summarizes the unvested restricted stock unit award activity for the three months ended April 3, 2021 (in thousands, except per share data):
 
    
Shares
    
Weighted-Average

Grant Date Fair
Value per Share
 
Unvested at December 31, 2020
     271      $ 202.00  
Granted
     76      $ 279.66  
Vested
     (80    $ 182.14  
Forfeited
     (3    $ 210.35  
    
 
 
          
Unvested at April 3, 2021
     264      $ 230.28  
    
 
 
          
Restricted stock units are generally granted annually in February and vest in equal annual installments over a five-year period.
Relevant Data Used to Determine the Value of Performance Shares The relevant data used to determine the value of the performance stock units granted during the three months ended April 3, 2021 and March 28, 2020 are as follows:
    
Three Months Ended
 
Performance Stock Units Issued and Significant Assumptions Used
to Estimate Fair Values
  
April 3, 2021
   
March 28, 2020
 
Performance stock units issued (in thousands)
     41       58  
Risk-free interest rate
     0.2     1.3
Expected life in years
     2.9       2.9  
Expected volatility
     38.7     25.1
Average volatility of peer companies
     34.7     26.1
Correlation coefficient
     45.8     36.6
Expected dividends
           —    
Performance Stock Units Unvested Roll Forward
The following table summarizes the unvested performance stock unit award activity for the three months ended April 3, 2021 (in thousands, except per share data):
 
    
Shares
    
Weighted-Average

Fair Value per
Share
 
Unvested at December 31, 2020
     95      $ 230.36  
Granted
     41      $ 315.98  
Vested
     (5    $ 242.94  
Forfeited
     (33    $ 228.24  
    
 
 
          
Unvested at April 3, 2021
     98      $ 266.25