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Commitments and Contingencies (Tables) | 9 Months Ended
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Sep. 30, 2017
Commitments and Contingencies Disclosure [Abstract] |
Summary of Future Minimum Rental Payments under Operating Leases | Future minimum rental payments under operating leases were as follows as of September 30, 2017:
| Operating Leases
| (In thousands)
Remainder of 2017 | $ | 1,287 |
2018 | 5,279 |
2019 | 5,146 |
2020 | 5,120 |
2021 | 5,259 |
Thereafter | 39,275 |
Total minimum lease payments | $ | 61,366 |
During the three months ended September 30, 2017, the Company amended its lease for its corporate headquarters and extended the lease term until 2030.
Activity Related to the Warranty Accrual | Activity related to the warranty accrual was as follows:
| Three Months Ended |  | Nine Months Ended
| September 30, 2017 |  | October 1, 2016 |  | September 30, 2017 |  | October 1, 2016
| (In thousands)
Balance at beginning of period | $ | 10,505 |  |  | $ | 6,622 |  |  | $ | 8,464 |  |  | $ | 6,907 |
Liability assumed (1) | — |  |  | — |  |  | 2,186 |  |  | — |
Provision | 2,433 |  |  | 2,823 |  |  | 6,051 |  |  | 5,619 |
Warranty usage (2) | (2,659 | ) |  | (1,598 | ) |  | (6,422 | ) |  | (4,679 | )
Balance at end of period | $ | 10,279 |  |  | $ | 7,847 |  |  | $ | 10,279 |  |  | $ | 7,847 |
(1) | Warranty assumed as part of the acquisition of the iRobot-related distribution business of Sales On Demand Corporation (see Note 9).
(2) | Warranty usage includes costs incurred for warranty obligations and, for the nine month period ended October 1, 2016, the release of warranty liabilities associated with the divestiture of the defense and security business unit.

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- Definition Tabular disclosure of future minimum payments required in the aggregate and for each of the five succeeding fiscal years for operating leases having initial or remaining noncancelable lease terms in excess of one year and the total minimum rentals to be received in the future under noncancelable subleases as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 840 -SubTopic 20 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6453985&loc=d3e41502-112717 + Details
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- Definition Tabular disclosure of the changes in the guarantor's aggregate product warranty liability, including the beginning balance of the aggregate product warranty liability, the aggregate reductions in that liability for payments made (in cash or in kind) under the warranty, the aggregate changes in the liability for accruals related to product warranties issued during the reporting period, the aggregate changes in the liability for accruals related to preexisting warranties (including adjustments related to changes in estimates), and the ending balance of the aggregate product warranty liability. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 460 -SubTopic 10 -Section 50 -Paragraph 8 -URI http://asc.fasb.org/extlink&oid=68068213&loc=d3e12565-110249 + Details
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