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Stock-Based Compensation - Weighted Average Fair Value (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 29, 2020 | Oct. 01, 2019 | Sep. 29, 2020 | Oct. 01, 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) |  |  | (118) |  |
Outstanding at end of the period (in shares) | 2,361 |  | 2,361 |  | 1,829
Exercisable at end of the period (in shares) | 1,188 |  | 1,188 |  |
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) |  |  | 47.15 |  |
Outstanding at end of the period (in dollars per share) | $ 45.38 |  | 45.38 |  | $ 47.32
Exercisable at end of the period (in dollars per share) | $ 46.74 |  | $ 46.74 |  |
Weighted Average Remaining Contractual Term (In years) |  |  |  |  |
Weighted Average Remaining Contractual Term (In years) |  |  | 5 years 1 month 6 days |  | 4 years 3 months 18 days
Exercisable at end of the period (In years) |  |  | 2 years 6 months |  |
Aggregate Intrinsic Value |  |  |  |  |
Outstanding at beginning of year |  |  | $ 844 |  |
Outstanding at end of the period | $ 8,701 |  | 8,701 |  | $ 844
Exercisable at end of the period | $ 4,986 |  | 4,986 |  |
Shares issued during the period | 0 | 0 |  |  |
Total intrinsic value of options exercised |  | $ 100 | 35,606 | $ 3,700 |
Unrecognized Stock-based Compensation Expense |  |  |  |  |
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units | $ 7,500 |  | $ 7,500 |  |
Expected weighted average period for recognition of compensation expense related to unvested stock option |  |  | 3 years 7 months 6 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) |  |  | 588 |  |
Vested (in shares) |  |  | (285) |  |
Forfeited (in shares) |  |  | (182) |  |
Outstanding at end of the period (in shares) | 1,885 |  | 1,885 |  | 1,764
Fair value of shares vested | $ 1,800 | $ 1,900 | $ 14,200 | $ 14,300 |
Weighted Average Fair Value |  |  |  |  |
Outstanding at beginning of year (in dollars per share) |  |  | $ 47.76 |  |
Granted (in dollars per share) | $ 24.00 | $ 44.24 | 39.74 |  |
Vested (in dollars per share) |  |  | 49.94 |  |
Forfeited (in dollars per share) |  |  | 49.13 |  |
Outstanding at end of the period (in dollars per share) | $ 44.79 |  | $ 44.79 |  | $ 47.76
Unrecognized Stock-based Compensation Expense |  |  |  |  |
Total unrecognized stock-based compensation expenses related to unvested stock options, restricted shares and restricted share units | $ 34,300 |  | $ 34,300 |  |
Expected weighted average period for recognition of compensation expense related to unvested stock option |  |  | 3 years |  |

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