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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 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):
 
Six Months Ended 
 June 30, 2018
 
Shares
 
Average
Exercise Price
Options outstanding, beginning of period
6,953

 
$
36.26

Granted
356

 
88.62

Canceled
(132
)
 
49.66

Exercised
(693
)
 
28.54

Options outstanding, end of period
6,484

 
$
39.68

Options exercisable, end of period
3,896

 
$
27.34
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 weighted average grant date fair value amounts):
 
Six Months Ended 
 June 30, 2018
 
Units
 
Weighted Average Grant
 Date Fair Value
RSUs outstanding, beginning of period
2,708

 
$
95.51

Granted
7

 
99.05

Canceled
—

 
—

Expired
—

 
—

Vested
(8
)
 
88.40

RSUs outstanding, end of period
2,707

 
$
95.54
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 weighted average grant date fair value amounts):
 
Six Months Ended 
 June 30, 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
 
Six Months Ended
 
June 30,
2018
 
July 1,
2017
 
June 30,
2018
 
July 1,
2017
Risk-free interest rate
2.6% to 2.9%
 
1.8% to 2.0%
 
2.3% to 2.9%
 
1.8% to 2.2%
Expected term (in years)
5.6
 
5.5
 
5.6
 
5.5
Estimated volatility
27.2% to 29.2%
 
29.8% to 30.3%
 
27.2% to 29.7%
 
29.7% to 30.3%
Expected dividends
0%
 
0%
 
0%
 
0%
Weighted-average fair value of options granted
$30.33
 
$28.58
 
$28.96
 
$27.82