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Stock-Based Compensation (Tables)
 6 Months Ended
Jul. 03, 2021
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
July 3, 2021
SharesWeighted-Average
Exercise Price
Options outstanding, beginning of period3,448 $77.44 
Granted85 250.15 
Canceled(128)146.51 
Exercised(113)56.02 
Options outstanding, end of period3,292 $79.92 
Options exercisable, end of period2,311 $53.95 
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
July 3, 2021
UnitsWeighted-Average Grant
 Date Fair Value
RSUs outstanding, beginning of period2,862 $99.66 
Granted82 246.67 
Canceled(10)197.13 
Expired— — 
Vested(34)163.57 
RSUs outstanding, end of period2,900 $102.71 
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
July 3, 2021
UnitsWeighted-Average Grant
 Date Fair Value
PSUs outstanding, beginning of period444 $120.28 
Granted(1)
148 162.99 
Canceled(17)166.84 
Expired— — 
Vested(273)86.95 
PSUs outstanding, end of period302 $168.68 
______________
(1)     On February 22, 2021, the Audit Committee approved the weighted payout percentage for the 2018 PSU awards (three-year performance period), which were based upon the actual fiscal 2020 performance against pre-established performance objectives. Included in the granted amount are those additional PSUs earned based on actual performance achieved. These PSUs were originally awarded at target.
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 EndedSix Months Ended
July 3,
2021		June 27,
2020		July 3,
2021		June 27,
2020
Risk-free interest rate
0.4%
0.3% to 0.6%
0.3% to 0.9%
0.3% to 1.7%
Expected term (in years)5.15.15.65.1
Estimated volatility
32.9%
26.9% to 35.5%
30.9% to 34.7%
26.9% to 35.5%
Expected dividends0%0%0%0%
Weighted-average fair value of options granted$66.53$60.12$75.72$49.82