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Stock-Based Compensation Expense (Tables) | 3 Months Ended
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Mar. 31, 2024
Share-Based Payment Arrangement [Abstract] |
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 |  |
| March 31, 2024 |  | April 2, 2023 |  |  |  |
Risk-free rate | 4.3 | % |  | 4.0 | % |  |  |  |
Expected dividend yield | 0.76 | % |  | 0.59 | % |  |  |  |
Expected volatility | 39 | % |  | 39 | % |  |  |  |
Expected term (in years) | 4.7 |  | 4.3 |  |  |  |
Schedule of Nonvested Restricted Stock Units Activity | The following table summarizes the Company's RSUs activity for the three-month period ended March 31, 2024:
| Shares (in thousands) |  | Weighted-Average Grant Date Fair Value
Nonvested as of December 31, 2023 | 1,429 |  |  | $ | 54.22 |
Granted | 765 |  |  | 38.82 |
Vested | (339) |  |  | 65.45 |
Forfeited or expired | (36) |  |  | 52.43 |
Nonvested as of March 31, 2024 | 1,819 |  |  | $ | 45.68 |
Schedule of Nonvested Performance-based Units Activity | The following table summarizes the Company's PRSUs activity for the three-month period ended March 31, 2024:
| Shares (in thousands) |  | Weighted-Average Grant Date Fair Value
Nonvested as of December 31, 2023 | 79 |  |  | $ | 52.23 |
Granted | 55 |  |  | 39.05 |
Vested | — |  |  | — |
Forfeited or expired | — |  |  | — |
Nonvested as of March 31, 2024 | 134 |  |  | $ | 46.82 |
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 |  |
| March 31, 2024 |  | April 2, 2023 |  |  |  |
Cost of revenue | $ | 605 |  |  | $ | 621 |  |  |  |  |
Research, development, and engineering | 4,389 |  |  | 5,890 |  |  |  |  |
Selling, general, and administrative | 8,308 |  |  | 10,068 |  |  |  |  |
| $ | 13,302 |  |  | $ | 16,579 |  |  |  |  |

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