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Stock-Based Compensation Expense (Tables) | 9 Months Ended
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Sep. 30, 2018
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Summary of Stock Option Activity | The following table summarizes the Company’s stock option activity for the nine-month period ended September 30, 2018:
| Shares (in thousands) |  | Weighted- Average Exercise Price |  | Weighted- Average Remaining Contractual Term (in years) |  | Aggregate Intrinsic Value (in thousands)
Outstanding as of December 31, 2017 | 12,726 |  |  | $ | 25.24 |  |  |  |  |
Granted | 2,318 |  |  | 55.66 |  |  |  |  |
Exercised | (1,434 | ) |  | 18.06 |  |  |  |  |
Forfeited or expired | (429 | ) |  | 33.24 |  |  |  |  |
Outstanding as of September 30, 2018 | 13,181 |  |  | $ | 31.11 |  |  | 7.48 |  | $ | 329,301 |
Exercisable as of September 30, 2018 | 4,327 |  |  | $ | 20.14 |  |  | 6.01 |  | $ | 154,377 |
Options vested or expected to vest as of September 30, 2018 (1) | 11,916 |  |  | $ | 29.99 |  |  | 7.37 |  | $ | 310,772 |
(1) In addition to the vested options, the Company expects a portion of the unvested options to vest at some point in the future. Options expected to vest are calculated by applying an estimated forfeiture rate to the unvested options.
Weighted-Average Assumptions Used in Estimating Fair Values of Stock Options Granted | The fair values of stock options granted in each period presented were estimated using the following weighted-average assumptions:
| Three-months Ended |  | Nine-months Ended
| September 30, 2018 |  | October 1, 2017 |  | September 30, 2018 |  | October 1, 2017
Risk-free rate | 2.9 | % |  | 2.4 | % |  | 2.9 | % |  | 2.4 | %
Expected dividend yield | 0.32 | % |  | 0.39 | % |  | 0.32 | % |  | 0.39 | %
Expected volatility | 39 | % |  | 41 | % |  | 39 | % |  | 41 | %
Expected term (in years) | 5.4 |  |  | 5.1 |  |  | 5.3 |  |  | 5.3 |
Nonvested Restricted Stock Shares Activity | The following table summarizes the Company's restricted stock activity for the nine-month period ended September 30, 2018:
| Shares (in thousands) |  | Weighted-Average Grant Fair Value |  | Aggregate Intrinsic Value (in thousands)
Nonvested as of December 31, 2017 | 20 |  |  | $ | 17.03 |  |  |
Granted |  |  |  |  |
Vested | (20 | ) |  | 17.03 |  |  | 993 |
Forfeited or expired |  |  |  |  |
Nonvested as of September 30, 2018 | — |  |  | $ | — |  |  | $ | — |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs | The following table presents the stock-based compensation expense by caption for each period presented on the Consolidated Statements of Operations (in thousands):
| Three-months Ended |  | Nine-months Ended
| September 30, 2018 |  | October 1, 2017 |  | September 30, 2018 |  | October 1, 2017
Cost of revenue | $ | 544 |  |  | $ | 520 |  |  | $ | 1,898 |  |  | $ | 1,404 |
Research, development, and engineering | 3,197 |  |  | 2,765 |  |  | 11,166 |  |  | 8,090 |
Selling, general, and administrative | 5,402 |  |  | 4,741 |  |  | 18,275 |  |  | 13,861 |
| $ | 9,143 |  |  | $ | 8,026 |  |  | $ | 31,339 |  |  | $ | 23,355 |

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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the allocation of equity-based compensation costs to a given line item on the balance sheet and income statement for the period. This may include the reporting line for the costs and the amount capitalized and expensed. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 + 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://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=96867065&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://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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