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Stock-Based Compensation (Tables)
 3 Months Ended
Apr. 01, 2022
Share-based Payment Arrangement [Abstract]  
Schedule of Allocated Employee Stock-Based Compensation Expense
We allocated the stock-based compensation expense for our equity incentive plans and our Employee Stock Purchase Plan (ESPP) as follows (in thousands):
Three Months Ended March 31,
20222021
Research and development$8,899 $12,396 
Selling, general and administrative10,860 22,257 
Total stock-based compensation expense$19,759 $34,653 
Stock-based compensation for each type of award under our equity incentive plans and ESPP were as follows (in thousands):
Three Months Ended March 31,
20222021
Stock options$3,678 $4,694 
Restricted stock units13,073 11,669 
Performance stock units1,709 17,947 
ESPP1,299 343 
Total stock-based compensation expense$19,759 $34,653 
Schedule of Share-Based Payment Award, Equity Instruments Other Than Options, Valuation Assumptions We used a Monte Carlo simulation model and the following assumptions to determine the grant date fair value of $33.17 per share for the TSR-based RSUs:
Fair value of the Company’s common stock on grant date
$20.70 
Expected volatility
46.85 %
Risk-free interest rate
1.59 %
Dividend yield
— %