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Stock-Based Compensation (Tables)
9 Months Ended
Sep. 28, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of 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):
 
Nine Months Ended 
 September 28, 2019
 
Shares
 
Average
Exercise Price
Options outstanding, beginning of period
5,676

 
$
43.61

Granted
447

 
138.42

Canceled
(132
)
 
79.27

Exercised
(699
)
 
32.61

Options outstanding, end of period
5,292

 
$
52.18

Options exercisable, end of period
3,412

 
$
33.30


Schedule of Share-based Compensation, Restricted Stock Units Award Activity
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):
 
Nine Months Ended 
 September 28, 2019
 
Units
 
Weighted Average Grant
 Date Fair Value
RSUs outstanding, beginning of period
2,707

 
$
95.54

Granted
99

 
133.49

Canceled
(2
)
 
133.50

Expired

 

Vested
(7
)
 
99.05

RSUs outstanding, end of period
2,797

 
$
96.84


Schedule of Nonvested Performance-based Units Activity
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):
 
Nine Months Ended 
 September 28, 2019
 
Units
 
Weighted Average Grant
 Date Fair Value
PSUs outstanding, beginning of period
313

 
$
88.34

Granted
128

 
133.50

Canceled

 

Expired

 

Vested
(29
)
 
90.69

PSUs outstanding, end of period
412

 
$
102.22


Schedule of 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
 
Nine Months Ended
 
September 28,
2019
 
September 29,
2018
 
September 28,
2019
 
September 29,
2018
Risk-free interest rate
1.4% to 1.9%
 
2.7% to 3.0%
 
1.4% to 2.6%
 
2.3% to 3.0%
Expected term (in years)
5.2
 
5.6
 
5.2
 
5.6
Estimated volatility
28.7% to 29.3%
 
26.8% to 32.0%
 
28.3% to 30.0%
 
26.8% to 32.0%
Expected dividends
0%
 
0%
 
0%
 
0%
Weighted-average fair value of options granted
$44.14
 
$37.62
 
$42.01
 
$31.21