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Stock-Based Compensation - Weighted Average Fair Value (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2020 | Jul. 02, 2019 | Jun. 30, 2020 | Jul. 02, 2019 | Jul. 02, 2019 | Dec. 31, 2019
Stock Options |  |  |  |  |  |
Stock option activity, Shares |  |  |  |  |  |
Outstanding at beginning of year (in shares) |  |  | 1,829 |  |  |
Granted (in shares) |  |  | 654 |  |  |
Exercised (in shares) | 0 |  | (4) |  |  |
Forfeited or cancelled (in shares) |  |  | (43) |  |  |
Outstanding at end of year (in shares) | 2,436 |  | 2,436 |  |  | 1,829
Exercisable at end of year (in shares) | 1,214 |  | 1,214 |  |  |
Weighted Average Exercise Price |  |  |  |  |  |
Outstanding at beginning of year (in dollars per share) |  |  | $ 47.32 |  |  |
Granted (in dollars per share) |  |  | 40.16 |  |  |
Exercised (in dollars per share) |  |  | 29.79 |  |  |
Forfeited or cancelled (in dollars per share) |  |  | 48.21 |  |  |
Outstanding at end of year (in dollars per share) | $ 45.41 |  | 45.41 |  |  | $ 47.32
Exercisable at end of year (in dollars per share) | $ 46.77 |  | $ 46.77 |  |  |
Weighted Average Remaining Contractual Term (In years) |  |  |  |  |  |
Weighted Average Remaining Contractual Term (In years) |  |  | 5 years 4 months 24 days |  |  | 4 years 3 months 18 days
Exercisable at end of year (In years) |  |  | 2 years 9 months 18 days |  |  |
Aggregate Intrinsic Value |  |  |  |  |  |
Outstanding at beginning of year |  |  | $ 844 |  |  |
Outstanding at end of year | $ 9,783 |  | 9,783 |  |  | $ 844
Exercisable at end of year | $ 5,696 |  | 5,696 |  |  |
Shares issued during the period | 0 | 0 |  |  |  |
Total intrinsic value of options exercised |  | $ 200 | 35,600 |  | $ 3,600 |
Unrecognized Stock-based Compensation Expense |  |  |  |  |  |
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units | $ 9,400 |  | $ 9,400 |  |  |
Expected weighted average period for recognition of compensation expense related to unvested stock option |  |  | 5 years 2 months 12 days |  |  |
Restricted Shares and Restricted Share Units |  |  |  |  |  |
Restricted Shares and Restricted Share Units, Shares |  |  |  |  |  |
Outstanding at beginning of year (in shares) |  |  | 1,764 |  |  |
Granted (in shares) |  |  | 586 |  |  |
Vested (in shares) |  |  | (247) |  |  |
Forfeited (in shares) |  |  | (106) |  |  |
Outstanding at end of year (in shares) | 1,997 |  | 1,997 |  |  | 1,764
Fair value of shares vested | $ 1,800 | $ 1,300 | $ 12,400 | $ 12,400 |  |
Weighted Average Fair Value |  |  |  |  |  |
Outstanding at beginning of year (in dollars per share) |  |  | $ 47.76 |  |  |
Granted (in dollars per share) | $ 23.56 | $ 45.15 | 39.80 |  |  |
Vested (in dollars per share) |  |  | 50.20 |  |  |
Forfeited (in dollars per share) |  |  | 52.41 |  |  |
Outstanding at end of year (in dollars per share) | $ 44.87 |  | $ 44.87 |  |  | $ 47.76
Unrecognized Stock-based Compensation Expense |  |  |  |  |  |
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units | $ 44,600 |  | $ 44,600 |  |  |
Expected weighted average period for recognition of compensation expense related to unvested stock option |  |  | 3 years 2 months 12 days |  |  |

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