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Stock-Based Compensation (Tables)
 6 Months Ended
Jul. 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 June 30,Six Months Ended June 30,
2022202120222021
Research and development$9,549 $13,667 $18,448 $26,063 
Selling, general and administrative15,073 14,368 25,933 36,625 
Total stock-based compensation expense$24,622 $28,035 $44,381 $62,688 
Stock-based compensation for each type of award under our equity incentive plans and ESPP were as follows (in thousands):
Three Months Ended June 30,Six Months Ended June 30,
2022202120222021
Stock options$3,493 $5,902 $7,171 $10,596 
Restricted stock units18,928 15,412 32,001 27,081 
Performance stock units1,581 4,698 3,290 22,645 
ESPP620 2,023 1,919 2,366 
Total stock-based compensation expense$24,622 $28,035 $44,381 $62,688 
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
— %