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Stock-Based Compensation - (Tables) | 12 Months Ended
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Dec. 28, 2019
Share-based Payment Arrangement [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):
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018 |  | Year Ended December 30, 2017
| Shares |  | Average Exercise Price |  | Shares |  | Average Exercise Price |  | Shares |  | Average Exercise Price
Options outstanding, beginning of period | 5,676 |  |  | $ | 43.61 |  |  | 6,953 |  |  | $ | 36.26 |  |  | 8,521 |  |  | $ | 28.56 |
Granted | 545 |  |  | 140.56 |  |  | 564 |  |  | 98.47 |  |  | 928 |  |  | 86.69 |
Canceled/Forfeited | (158 | ) |  | 83.14 |  |  | (233 | ) |  | 67.45 |  |  | (250 | ) |  | 38.59 |
Exercised | (851 | ) |  | 33.32 |  |  | (1,608 | ) |  | 27.62 |  |  | (2,246 | ) |  | 27.63 |
Options outstanding, end of period | 5,212 |  |  | $ | 54.23 |  |  | 5,676 |  |  | $ | 43.61 |  |  | 6,953 |  |  | $ | 36.26 |
Options exercisable, end of period | 3,311 |  |  | $ | 33.80 |  |  | 3,273 |  |  | $ | 29.63 |  |  | 3,812 |  |  | $ | 26.28 |
Number and Weighted Average Exercise Price of Outstanding and Exercisable Options | The number and weighted-average exercise price of outstanding and exercisable stock options segregated by exercise price ranges (in thousands, except range of exercise prices and remaining contractual life) were as follows:
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018
| Options Outstanding |  | Options Exercisable |  | Options Outstanding |  | Options Exercisable
Range of Exercise Prices | Number of Options |  | Average Remaining Contractual Life |  | Number of Options |  | Number of Options |  | Average Remaining Contractual Life |  | Number of Options
$15.00 to $35.00 | 2,287 |  |  | 3.35 |  | 2,240 |  |  | 2,956 |  |  | 4.24 |  | 2,560 |
$35.01 to $55.00 | 1,189 |  |  | 5.95 |  | 724 |  |  | 1,341 |  |  | 6.97 |  | 548 |
$55.01 to $75.00 | 53 |  |  | 6.69 |  | 23 |  |  | 72 |  |  | 7.75 |  | 20 |
$75.01 to $95.00 | 985 |  |  | 7.76 |  | 291 |  |  | 1,076 |  |  | 8.75 |  | 141 |
$95.01 to $115.00 | 144 |  |  | 8.61 |  | 26 |  |  | 160 |  |  | 9.54 |  | 4 |
$115.01 to $135.00 | 251 |  |  | 9.12 |  | 7 |  |  | 71 |  |  | 9.73 |  | — |
$135.01 to $160.00 | 303 |  |  | 9.63 |  | — |  |  | — |  |  | 0.00 |  | — |
Total | 5,212 |  |  | 5.60 |  | 3,311 |  |  | 5,676 |  |  | 6.01 |  | 3,273 |
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units 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):
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018 |  | Year Ended December 30, 2017
| Units |  | Weighted Average Grant Date Fair Value |  | Units |  | Weighted Average Grant Date Fair Value |  | Units |  | Weighted Average Grant Date Fair Value
RSUs outstanding, beginning of period | 2,707 |  |  | $ | 95.54 |  |  | 2,708 |  |  | $ | 95.51 |  |  | 2,706 |  |  | $ | 95.40 |
Granted | 100 |  |  | 133.57 |  |  | 7 |  |  | 99.05 |  |  | 33 |  |  | 86.42 |
Canceled/Forfeited | (3 | ) |  | 133.50 |  |  | — |  |  | — |  |  | (25 | ) |  | 85.79 |
Vested | (7 | ) |  | 99.05 |  |  | (8 | ) |  | 88.40 |  |  | (6 | ) |  | 43.09 |
RSUs outstanding, end of period | 2,797 |  |  | $ | 96.85 |  |  | 2,707 |  |  | $ | 95.54 |  |  | 2,708 |  |  | $ | 95.51 |
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):
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018 |  | Year Ended December 30, 2017
| Units |  | Weighted Average Grant Date Fair Value |  | Units |  | Weighted Average Grant Date Fair Value |  | Units |  | Weighted Average Grant Date Fair Value
PSUs outstanding, beginning of period | 313 |  |  | $ | 88.34 |  |  | 233 |  |  | $ | 90.70 |  |  | — |  |  | $ | — |
Granted | 128 |  |  | 133.50 |  |  | 197 |  |  | 86.95 |  |  | 248 |  |  | 90.71 |
Canceled/Forfeited | — |  |  | — |  |  | (86 | ) |  | 90.71 |  |  | (15 | ) |  | 90.87 |
Vested | (29 | ) |  | 90.69 |  |  | (31 | ) |  | 90.70 |  |  | — |  |  | — |
PSUs outstanding, end of period | 412 |  |  | $ | 102.22 |  |  | 313 |  |  | $ | 88.34 |  |  | 233 |  |  | $ | 90.70 |
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 stock options granted at the date of grant were as follows:
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018 |  | Year Ended December 30, 2017
Risk-free interest rate | 1.4% to 2.6% |  | 2.3% to 3.1% |  | 1.7% to 2.2%
Expected term | 5.1 years to 5.2 years |  | 5.2 years to 5.6 years |  | 5.5 years to 5.6 years
Estimated volatility | 28.2% to 30.0% |  | 26.8% to 32.0% |  | 29.7% to 32.1%
Expected dividends | 0% |  | 0% |  | 0%
Weighted-average fair value of options granted | $42.29 per share |  | $31.85 per share |  | $27.81 per share
Total Share-Based Compensation Expense Included in Consolidated Statements of Comprehensive Income | The following table presents the total stock-based compensation expense that is included in each functional line item of the consolidated statements of operations (in thousands):
| Year Ended December 28, 2019 |  | Year Ended December 29, 2018 |  | Year Ended December 30, 2017
Cost of goods sold | $ | 445 |  |  | $ | 334 |  |  | $ | 351 |
Selling, general and administrative | 30,450 |  |  | 21,391 |  |  | 13,272 |
Research and development | 8,340 |  |  | 5,692 |  |  | 3,564 |
Total | $ | 39,235 |  |  | $ | 27,417 |  |  | $ | 17,187 |

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