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Share Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
--- | ---
Dec. 28, 2019 | Dec. 29, 2018 | Dec. 30, 2017
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Plan Modification, Description and Terms | 0 | 0 | 0
Number of shares available for future equity awards (in shares) | 11,800,000 |  |
Share-based compensation | $ 31,136 | $ 28,921 | $ 29,202
Vesting Term, Minimum | 1 year |  |
Vesting Term, Maximum | 3 years |  |
Payments Related to Tax Withholding for Share-based Compensation | $ 3,818 | $ 1,367 | $ 816
Key assumptions in fair value determination |  |  |
Stock option expiration date (in years) | ten |  |
Stock options, additional disclosures |  |  |
Weighted average fair value, Granted (in dollars per share) | $ 20.80 |  |
Weighted average remaining contractual term, Outstanding, end of period (in years) | 6 years 9 months 18 days | 7 years |
Weighted average remaining contractual term, Exercisable, end of period (in years) | 5 years 10 months 24 days |  |
Aggregate intrinsic value, Outstanding, beginning of period | $ 46,472 |  |
Aggregate intrinsic value, Outstanding, end of period | 47,834 | $ 46,472 |
Aggregate intrinsic value, Exercisable at end of period | 28,502 |  |
Employee Stock Option |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Total unrecognized compensation | $ 7,700 |  |
Remaining weighted average expense recognition period (in years) | 1 year 7 months 6 days |  |
Key assumptions in fair value determination |  |  |
Expected price volatility, minimum (in hundredths) | 26.40% | 26.40% | 25.10%
Expected price volatility, maximum (in hundredths) | 27.60% | 27.00% | 26.00%
Risk-free interest rate, minimum (in hundredths) | 1.60% | 2.50% | 1.70%
Risk-free interest rate, maximum (in hundredths) | 2.50% | 3.00% | 1.90%
Forfeiture rate, minimum (in hundredths) | 7.30% | 7.30% | 7.20%
Forfeiture rate, maximum (in hundredths) | 7.30% | 7.30% | 7.20%
Dividend yield, minimum (in hundredths) | 1.40% | 1.60% | 1.30%
Dividend yield, maximum (in hundredths) | 1.40% | 1.60% | 1.30%
Stock option expiration date (in years) |  | 10 | 10
Stock option activity |  |  |
Outstanding, beginning of period (in shares) | 4,053,386 |  |
Granted (in shares) | 395,701 |  |
Exercised (in shares) | (1,556,917) |  |
Canceled (in shares) | (74,651) |  |
Outstanding, end of period (in shares) | 2,817,519 | 4,053,386 |
Exercisable, end of period (in shares) | 1,629,075 |  |
Stock options, additional disclosures |  |  |
Weighted average exercise price, Outstanding, beginning of period (in dollars per share) | $ 72.49 |  |
Weighted average exercise price, Granted (in dollars per share) | 89.78 |  |
Weighted average exercise price, Exercised (in dollars per share) | 71.52 |  |
Weighted average exercise price, Cancelled (in dollars per share) | 76.56 |  |
Weighted average exercise price, Outstanding, end of period (in dollars per share) | 75.34 | $ 72.49 |
Weighted average exercise price, Exercisable, end of period (in dollars per share) | $ 74.81 |  |
Other information relative to option activity |  |  |
Total fair value of stock options vested | $ 16,060 | $ 18,247 | $ 15,996
Total intrinsic value of stock options exercised | $ 45,101 | $ 43,476 | $ 9,237
Employee Stock Option | Minimum |  |  |
Key assumptions in fair value determination |  |  |
Weighted average expected lives (in years) | 4 years 6 months | 4 years 6 months | 4 years 4 months 24 days
Employee Stock Option | Maximum |  |  |
Key assumptions in fair value determination |  |  |
Weighted average expected lives (in years) | 4 years 6 months | 4 years 6 months | 4 years 4 months 24 days
Employee Stock Purchase Plan |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Share-based compensation | $ 1,100 | $ 1,100 | $ 1,000
Discount rate of employee stock purchase plan (in hundredths) | 15.00% |  |
Shares of common stock issued for employee stock purchase plan (in shares) | 61,678 | 77,458 | 83,155
Shares of common stock reserved for future issuance under the ESPP (in shares) | 11,900,000 |  |
Employee Stock Purchase Plan | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Shares of common stock reserved for future issuance under the ESPP (in shares) | 16,000,000.0 |  |
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Total unrecognized compensation | $ 19,600 |  |
Remaining weighted average expense recognition period (in years) | 1 year 9 months 18 days |  |
Shares issued as a result of vested restricted stock units (in shares) | 103,124 | 53,714 | 39,314
Payments Related to Tax Withholding for Share-based Compensation | $ 3,818 | $ 1,367 | $ 816
Restricted stock units |  |  |
Restricted, beginning of period (in shares) | 438,070 |  |
Granted (in shares) | 255,500 |  |
Exercised (in shares) | (116,118) |  |
Forfeited (in shares) | (34,046) |  |
Restricted, end of period (in shares) | 543,406 | 438,070 |
Restricted stock units, additional disclosures |  |  |
Weighted average grant date fair value, Restricted, beginning of period (in dollars per share) | $ 64.09 |  |
Weighted average grant date fair value, Granted (in dollars per share) | 88.02 |  |
Weighted average grant date fair value, Exercised (in dollars per share) | 71.49 |  |
Weighted average grant date fair value, Forfeited (in dollars per share) | 73.28 |  |
Weighted average grant date fair value, Restricted, end of period (in dollars per share) | $ 73.55 | $ 64.09 |
Other information relative to restricted unit activity |  |  |
Total grant date fair value of restricted units vested and exercised | $ 8,301 | $ 5,325 | 3,301
Total intrinsic value of restricted units vested and exercised | $ 10,623 | $ 5,364 | $ 3,465
Shares Paid for Tax Withholding for Share Based Compensation | 41,786 | 17,131 | 11,755
Performance-Based Restricted Share Units |  |  |
Share-based Compensation Arrangement by Share-based Payment Award |  |  |
Total unrecognized compensation | $ 2,300 |  |
Remaining weighted average expense recognition period (in years) | 1 year 9 months 18 days |  |
Shares issued as a result of vested restricted stock units (in shares) | 0 | 0 | 0
Restricted stock units |  |  |
Restricted, beginning of period (in shares) | 41,310 |  |
Granted (in shares) | 58,115 |  |
Exercised (in shares) | (28,792) |  |
Forfeited (in shares) | (6,173) |  |
Restricted, end of period (in shares) | 93,461 | 41,310 |
Restricted stock units, additional disclosures |  |  |
Weighted average grant date fair value, Restricted, beginning of period (in dollars per share) | $ 63.90 |  |
Weighted average grant date fair value, Granted (in dollars per share) | 85.51 |  |
Weighted average grant date fair value, Exercised (in dollars per share) | 70.68 |  |
Weighted average grant date fair value, Forfeited (in dollars per share) | 85.04 |  |
Weighted average grant date fair value, Restricted, end of period (in dollars per share) | $ 75.97 | $ 63.90 |
Other information relative to restricted unit activity |  |  |
Total grant date fair value of restricted units vested and exercised | $ 2,035 | $ 0 | $ 0
Total intrinsic value of restricted units vested and exercised | $ 2,666 | $ 0 | $ 0
Shares Paid for Tax Withholding for Share Based Compensation | 0 | 0 | 0
Share-based Payment Arrangement, Tranche One |  |  |
Restricted stock units |  |  |
Granted (in shares) | 29,001 |  |
Restricted stock units, additional disclosures |  |  |
Weighted average grant date fair value, Granted (in dollars per share) | $ 63.90 |  |

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- Definition The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References No definition available. + Details
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