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Stock-Based Compensation - (Tables)
12 Months Ended
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