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Stock-Based Compensation (Tables) | 3 Months Ended
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Apr. 03, 2020
Share-based Payment Arrangement [Abstract] |
Allocated Employee Stock-Based Compensation Expense | We allocated the stock-based compensation expense for our equity incentive plans and our 2000 Employee Stock Purchase Plan (ESPP) as follows (in thousands):
| Three Months Ended March 31,
| 2020 |  | 2019
Research and development | $ | 5,086 |  |  | $ | 4,306 |
Selling, general and administrative | 8,896 |  |  | 8,223 |
Total stock-based compensation | $ | 13,982 |  |  | $ | 12,529 |

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