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Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 28, 2019 | Sep. 29, 2018 | Sep. 28, 2019 | Sep. 29, 2018
Stock-based compensation costs |  |  |  |
Stock based compensation costs | $ 13,788 | $ 12,582 | $ 40,042 | $ 36,893
Income tax benefit | 817 | 619 | 1,951 | 7,515
Share based compensation costs after tax | 12,971 | 11,963 | 38,091 | 29,378
Total unrecognized compensation costs related to awards | 69,100 |  | $ 69,100 |
Weighted-average period of recognition of unrecognized compensation costs |  |  | 2 years 2 months 12 days |
Cost of revenues |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | 344 | 324 | $ 989 | 914
Research and development |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | 6,474 | 6,016 | 19,030 | 17,454
Selling, general and administrative |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | $ 6,970 | $ 6,242 | $ 20,023 | $ 18,525

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