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Stock-Based Compensation (Tables)
3 Months Ended
Apr. 01, 2017
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of Share-based Compensation, Restricted Stock Units Award Activity [Table Text Block]
The number of RSUs issued and outstanding under all of the Company’s stock option plans are as follows (in thousands, except for grant date fair value amounts):
 
Three Months Ended 
 April 1, 2017
 
Units
 
Weighted Average Grant
 Date Fair Value
RSUs outstanding, beginning of period
2,706

 
$
41.45

Granted

 

Canceled

 

Expired

 

Vested

 

RSUs outstanding, end of period
2,706

 
$
41.45

Number and Weighted Average Exercise Price of Options Issued and Outstanding under all Stock Option Plans
The number and weighted-average exercise price of options issued and outstanding under all of the Company’s stock option plans are as follows (in thousands, except for exercise prices):
 
Three Months Ended 
 April 1, 2017
 
Shares
 
Average
Exercise Price
Options outstanding, beginning of period
8,521

 
$
28.56

Granted
53

 
80.03

Canceled
(47
)
 
31.11

Exercised
(955
)
 
26.09

Options outstanding, end of period
7,572

 
$
29.22

Options exercisable, end of period
4,615

 
$
26.83

Range of Assumptions Used and Resulting Weighted-Average Fair Value of Options Granted at Date of Grant
The range of assumptions used and the resulting weighted-average fair value of options granted at the date of grant were as follows:
 
 
Three Months Ended
 
 
April 1,
2017
 
April 2,
2016
Risk-free interest rate
 
1.9% to 2.2%
 
1.3% to 1.9%
Expected term (in years)
 
5.5
 
5.7
Estimated volatility
 
29.7% to 30.1%
 
34.6% to 35.7%
Expected dividends
 
0%
 
0%
Weighted-average fair value of options granted
 
$25.25
 
$13.13