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Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Oct. 02, 2021 | Oct. 03, 2020 | Oct. 02, 2021 | Oct. 03, 2020
Stock-based compensation costs |  |  |  |
Stock based compensation costs | $ 14,296 | $ 11,791 | $ 36,916 | $ 36,252
Income tax (expense) benefit | (627) | 900 | 632 | 3,022
Share based compensation costs after tax | 14,923 | 10,891 | 36,284 | 33,230
Total unrecognized compensation costs related to awards | 90,100 |  | $ 90,100 |
Weighted-average period of recognition of unrecognized compensation costs |  |  | 2 years 3 months 18 days |
Cost of revenues |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | 261 | 262 | $ 696 | 717
Research and development |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | 7,071 | 5,821 | 18,190 | 17,354
Selling, general and administrative |  |  |  |
Stock-based compensation costs |  |  |  |
Stock based compensation costs | $ 6,964 | $ 5,708 | $ 18,030 | $ 18,181

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