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Stock-Based Compensation - (Tables) | 12 Months Ended
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Dec. 30, 2023
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:
| Year Ended December 30, 2023 |  | Year Ended December 31, 2022 |  | Year Ended January 1, 2022
(in millions, except for weighted-average exercise prices) | Shares |  | Weighted-Average Exercise Price |  | Shares |  | Weighted-Average Exercise Price |  | Shares |  | Weighted-Average Exercise Price
Options outstanding, beginning of period | 2.8 |  |  | $ | 83.85 |  |  | 2.9 |  |  | $ | 81.38 |  |  | 3.4 |  |  | $ | 77.44 |
Granted | 0.1 |  |  | 177.29 |  |  | 0.1 |  |  | 150.91 |  |  | 0.1 |  |  | 250.15 |
Canceled | — |  |  | 45.96 |  |  | (0.1) |  |  | 162.77 |  |  | (0.2) |  |  | 149.11 |
Exercised | (0.2) |  |  | 43.22 |  |  | (0.1) |  |  | 54.53 |  |  | (0.4) |  |  | 53.55 |
Options outstanding, end of period | 2.7 |  |  | $ | 87.79 |  |  | 2.8 |  |  | $ | 83.85 |  |  | 2.9 |  |  | $ | 81.38 |
Options exercisable, end of period | 2.4 |  |  | $ | 73.79 |  |  | 2.4 |  |  | $ | 65.83 |  |  | 2.2 |  |  | $ | 57.09 |
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 were as follows:
| Year Ended December 30, 2023 |  | Year Ended December 31, 2022
(in millions, except range of exercise prices and average remaining contractual life) | 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 $50.00 | 1.2 |  |  | 1.5 |  | 1.2 |  |  | 1.3 |  |  | 2.4 |  | 1.3 |
$50.01 to $80.00 | — |  |  | 2.5 |  | — |  |  | 0.1 |  |  | 3.7 |  | 0.1 |
$80.01 to $120.00 | 0.7 |  |  | 3.7 |  | 0.7 |  |  | 0.8 |  |  | 4.8 |  | 0.7 |
$120.01 to $160.00 | 0.4 |  |  | 6.0 |  | 0.3 |  |  | 0.4 |  |  | 7.1 |  | 0.2 |
$160.01 to $200.00 | 0.3 |  |  | 7.0 |  | 0.1 |  |  | 0.2 |  |  | 7.2 |  | 0.1 |
$200.01 to $230.00 | — |  |  | 6.5 |  | — |  |  | — |  |  | 7.2 |  | — |
$230.01 to $280.00 | 0.1 |  |  | 7.0 |  | 0.1 |  |  | — |  |  | 8.0 |  | — |
Total | 2.7 |  |  | 4.9 |  | 2.4 |  |  | 2.8 |  |  | 4.3 |  | 2.4 |
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:
| Year Ended December 30, 2023 |  | Year Ended December 31, 2022 |  | Year Ended January 1, 2022
(in millions, except for weighted-average grant date fair value) | 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 | 3.2 |  |  | $ | 105.65 |  |  | 3.0 |  |  | $ | 104.13 |  |  | 2.9 |  |  | $ | 99.66 |
Granted | 0.5 |  |  | 125.44 |  |  | 0.3 |  |  | 148.52 |  |  | 0.1 |  |  | 257.43 |
Canceled | (0.1) |  |  | 172.19 |  |  | (0.1) |  |  | 168.90 |  |  | — |  |  | 204.33 |
Vested | (0.1) |  |  | 173.18 |  |  | — |  |  | 184.04 |  |  | — |  |  | 163.71 |
RSUs outstanding, end of period | 3.5 |  |  | $ | 105.87 |  |  | 3.2 |  |  | $ | 105.65 |  |  | 3.0 |  |  | $ | 104.13 |
Schedule of Nonvested Performance-based Units Activity | The number of PSUs outstanding under all of the Company’s equity plans are as follows:
| Year Ended December 30, 2023 |  | Year Ended December 31, 2022 |  | Year Ended January 1, 2022
(in millions, except for weighted-average grant date fair value) | 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 | 0.3 |  |  | $ | 180.04 |  |  | 0.3 |  |  | $ | 168.68 |  |  | 0.4 |  |  | $ | 120.28 |
Granted(1) | 0.1 |  | (1) | 204.67 |  |  | 0.3 |  | (1) | 145.49 |  |  | 0.2 |  |  | 250.73 |
Canceled | — |  |  | 155.98 |  |  | (0.1) |  |  | 139.73 |  |  | — |  |  | 166.84 |
Vested | (0.1) |  |  | 179.42 |  |  | (0.2) |  |  | 127.46 |  |  | (0.3) |  |  | 86.95 |
PSUs outstanding, end of period | 0.3 |  |  | $ | 190.04 |  |  | 0.3 |  |  | $ | 180.04 |  |  | 0.3 |  |  | $ | 168.68 |
(1) On February 27, 2023, the Audit Committee approved the weighted payout percentage for the 2019 PSU awards (three-year performance period), which were based upon the Company’s actual fiscal year 2022 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.
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:
| Year Ended December 30, 2023 |  | Year Ended December 31, 2022 |  | Year Ended January 1, 2022
Risk-free interest rate | 3.6% to 4.2% |  | 1.0% to 1.9% |  | 0.3% to 0.9%
Expected term (in years) | 5.1 years to 5.9 years |  | 5.1 years to 5.7 years |  | 5.1 years to 5.6 years
Estimated volatility | 31.6% to 36.7% |  | 31.2% to 38.9% |  | 30.9% to 34.7%
Expected dividends | 0% |  | 0% |  | 0%
Weighted-average fair value of options granted | $75.08 per share |  | $49.69 per share |  | $75.72 per share
Share-Based Compensation Expense Included in Consolidated Statements of Operations | 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 millions) | Year Ended December 30, 2023 |  | Year Ended December 31, 2022 |  | Year Ended January 1, 2022
Cost of goods sold | $ | 1.1 |  |  | $ | 1.0 |  |  | $ | 0.8 |
Selling, general and administrative | (1.5) |  |  | 32.9 |  |  | 31.3 |
Research and development | 7.4 |  |  | 13.8 |  |  | 12.5 |
Total | $ | 7.0 |  |  | $ | 47.7 |  |  | $ | 44.6 |

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