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Stock-Based Compensation (Tables) | 6 Months Ended
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Jun. 27, 2020
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 weighted-average exercise prices):
| Six Months Ended June 27, 2020
| Shares |  | Weighted-Average Exercise Price
Options outstanding, beginning of period | 5,212 |  |  | $ | 54.23 |
Granted | 374 |  |  | 184.72 |
Canceled | (121 | ) |  | 120.37 |
Exercised | (1,209 | ) |  | 28.71 |
Options outstanding, end of period | 4,256 |  |  | $ | 71.06 |
Options exercisable, end of period | 2,580 |  |  | $ | 41.36 |
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):
| Six Months Ended June 27, 2020
| Units |  | Weighted-Average Grant Date Fair Value
RSUs outstanding, beginning of period | 2,797 |  |  | $ | 96.85 |
Granted | 79 |  |  | 183.43 |
Canceled | (3 | ) |  | 144.90 |
Expired | — |  |  | — |
Vested | (26 | ) |  | 134.61 |
RSUs outstanding, end of period | 2,847 |  |  | $ | 98.85 |
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):
| Six Months Ended June 27, 2020
| Units |  | Weighted-Average Grant Date Fair Value
PSUs outstanding, beginning of period | 412 |  |  | $ | 102.22 |
Granted | 97 |  |  | 179.42 |
Canceled | (7 | ) |  | 122.13 |
Expired | — |  |  | — |
Vested | (29 | ) |  | 90.69 |
PSUs outstanding, end of period | 473 |  |  | $ | 118.47 |
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 |  | Six Months Ended
| June 27, 2020 |  | June 29, 2019 |  | June 27, 2020 |  | June 29, 2019
Risk-free interest rate | 0.3% to 0.6% |  | 1.8% to 2.4% |  | 0.3% to 1.7% |  | 1.8% to 2.6%
Expected term (in years) | 5.1 |  | 5.2 |  | 5.1 |  | 5.2
Estimated volatility | 26.9% to 35.5% |  | 28.3% to 28.9% |  | 26.9% to 35.5% |  | 28.3% to 30.0%
Expected dividends | 0% |  | 0% |  | 0% |  | 0%
Weighted-average fair value of options granted | $60.12 |  | $41.90 |  | $49.82 |  | $41.30

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- Definition Tabular disclosure of the changes in outstanding nonvested performance-based units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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