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Employee Benefit Plans and Stock-based Compensation (Tables) | 9 Months Ended
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Sep. 28, 2018
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Summary of Stock Options Outstanding | The following table summarizes the Company’s stock option activities and related information during the nine months ended September 28, 2018 (in thousands, except per share amounts and terms):
|  | Stock Options Outstanding
|  | Number of Shares |  | Weighted Average Exercise Price Per Share |  | Weighted Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value
Balance at December 31, 2017 |  | 3,880 |  |  | $ | 6.04 |  |  |  |  |
Granted |  | — |  |  | — |  |  |  |  |
Exercised |  | (88 | ) |  | 2.93 |  |  |  |  |
Forfeited |  | (35 | ) |  | 4.76 |  |  |  |  |
Canceled or expired |  | (538 | ) |  | 8.75 |  |  |  |  |
Balance at September 28, 2018 |  | 3,219 |  |  | 5.69 |  |  | 2.5 |  | $ | 1,907.4 |
As of September 28, 2018 |  |  |  |  |  |  |  |
Vested and expected to vest |  | 3,214 |  |  | 5.69 |  |  | 2.5 |  | $ | 1,900.0 |
Exercisable |  | 3,051 |  |  | 5.74 |  |  | 2.5 |  | $ | 1,666.9 |
Summary of Restricted Stock Units Outstanding | The following table summarizes the Company’s RSUs activities and related information during the nine months ended September 28, 2018 (in thousands, except per share amounts and terms):
|  | Restricted Stock Units Outstanding
|  | Number of Shares |  | Weighted Average Grant Date Fair Value Per Share
Balance at December 31, 2017 |  | 2,904 |  |  | $ | 5.09 |
Granted |  | 3,835 |  |  | 3.94 |
Vested |  | (2,947 | ) |  | 4.87 |
Forfeited |  | (216 | ) |  | 4.95 |
Balance at September 28, 2018 |  | 3,576 |  |  | 4.05 |
Schedule of Defined Benefit Plans Obligations | The table below presents the components of net periodic benefit costs (in thousands):
| Three months ended |  | Nine months ended
| September 28, 2018 |  | September 29, 2017 |  | September 28, 2018 |  | September 29, 2017
Service cost | $ | 59 |  |  | $ | 55 |  |  | $ | 185 |  |  | $ | 165 |
Interest cost | 18 |  |  | 16 |  |  | 56 |  |  | 48 |
Recognized net actuarial loss | — |  |  | 1 |  |  | — |  |  | 4 |
Net periodic benefit cost | $ | 77 |  |  | $ | 72 |  |  | $ | 241 |  |  | $ | 217 |
Summary of Stock-Based Compensation Expense | Stock-based Compensation The following table summarizes stock-based compensation for all plans (in thousands):
| Three months ended | Nine months ended
| September 28, 2018 |  | September 29, 2017 | September 28, 2018 |  | September 29, 2017
Stock-based compensation in: |  |  |  |  |  |
Cost of revenue | $ | 614 |  |  | $ | 478 |  | $ | 1,577 |  |  | $ | 1,623 |
Research and development expense | 1,676 |  |  | 1,183 |  | 4,298 |  |  | 3,496 |
Selling, general and administrative expense | 3,143 |  |  | 2,059 |  | 8,327 |  |  | 5,988 |
Total stock-based compensation in operating expense | 4,819 |  |  | 3,242 |  | 12,625 |  |  | 9,484 |
Total stock-based compensation | $ | 5,433 |  |  | $ | 3,720 |  | $ | 14,202 |  |  | $ | 11,107 |
Valuation Assumptions for Stock Options | At the date of grant, the Company estimated the fair value of each stock option grant and stock purchase right granted under the ESPP using the following weighted average assumptions:
| Stock Options
| Nine months ended
| September 29, 2017
Expected term (years) | 4.6
Volatility | 43%
Risk-free interest rate | 1.7%
Expected dividends | 0.0%
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions |
| ESPP Purchase Period Ending
| December 31, 2018 |  | July 2, 2018 |  | December 31, 2017 |  | June 30, 2017
Expected term (years) | 0.5 |  |  | 0.5 |  |  | 0.5 |  |  | 0.5 |
Volatility | 51 | % |  | 60 | % |  | 43 | % |  | 41 | %
Risk-free interest rate | 2.1 | % |  | 1.7 | % |  | 1.2 | % |  | 1.0 | %
Expected dividends | 0.0 | % |  | 0.0 | % |  | 0.0 | % |  | 0.0 | %
Estimated weighted average fair value per share at purchase date | $1.32 |  | $1.34 |  | $1.42 |  | $1.40

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- Definition Tabular disclosure of one or more of the entity's defined benefit pension plans or one or more other defined benefit postretirement plans, separately for pension plans and other postretirement benefit plans including the entity's schedule of fair value of plan assets for defined benefit or other postretirement plans. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 55 -Paragraph 17 -URI http://asc.fasb.org/extlink&oid=112275985&loc=d3e4179-114921 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 4 -URI http://asc.fasb.org/extlink&oid=108410482&loc=d3e2439-114920 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=108410482&loc=d3e1928-114920 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=108410482&loc=d3e2410-114920 Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 715 -SubTopic 20 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=108410482&loc=d3e2417-114920 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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