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Stock-Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2018
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
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 equity plans are as follows (in thousands, except for exercise prices):
 
Three Months Ended 
 March 31, 2018
 
Shares
 
Average
Exercise Price
Options outstanding, beginning of period
6,953

 
$
36.26

Granted
270

 
86.93

Canceled
(83
)
 
47.36

Exercised
(314
)
 
28.24

Options outstanding, end of period
6,826

 
$
38.50

Options exercisable, end of period
4,003

 
$
26.79
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 equity plans are as follows (in thousands, except for grant date fair value amounts):
 
Three Months Ended 
 March 31, 2018
 
Units
 
Weighted Average Grant
 Date Fair Value
RSUs outstanding, beginning of period
2,708

 
$
95.51

Granted
—

 
—

Canceled
—

 
—

Expired
—

 
—

Vested
—

 
—

RSUs outstanding, end of period
2,708

 
$
95.51
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
The number of PSUs outstanding under all of the Company’s equity plans are as follows (in thousands, except for grant date fair value amounts):
 
Three Months Ended 
 March 31, 2018
 
Units
 
Weighted Average Grant
 Date Fair Value
PSUs outstanding, beginning of period
233

 
$
90.70

Granted
197

 
86.95

Canceled
(86
)
 
90.71

Expired
—

 
—

Vested
(31
)
 
90.70

PSUs outstanding, end of period
313

 
$
88.34
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
 
March 31,
2018
 
April 1,
2017
Risk-free interest rate
2.3% to 2.7%
 
1.9% to 2.2%
Expected term (in years)
5.6
 
5.5
Estimated volatility
29.3% to 29.7%
 
29.7% to 30.1%
Expected dividends
0%
 
0%
Weighted-average fair value of options granted
$28.53
 
$25.25