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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2017
Stock-Based Compensation [Abstract]  
Schedule of Stock-Based Compensation Expense

The consolidated statements of operations for the three and nine months ended September 30, 2017 and October 1, 2016 include the following stock-based compensation expense related to stock option awards, restricted stock awards, restricted stock unit awards, performance stock unit awards and the employee stock purchase plan (in thousands):

   Three Months Ended Nine Months Ended
   September 30, 2017 October 1, 2016 September 30, 2017 October 1, 2016
Cost of sales $ 726 $ 731 $ 2,251 $ 2,058
Selling and administrative expenses   10,768   6,944   25,558   27,526
Research and development expenses   780   692   2,259   3,020
 Total stock-based compensation $ 12,274 $ 8,367 $ 30,068 $ 32,604
Relevant Data Used to Determine the Value of Stock Options Granted During the Period

The relevant data used to determine the value of the stock options granted during the nine months ended September 30, 2017 and October 1, 2016 is as follows:

  Nine Months Ended
Options Issued and Significant Assumptions Used to Estimate Option Fair Values September 30, 2017 October 1, 2016
Options issued (in thousands) 217 86
Risk-free interest rate 2.2% 1.5%
Expected life in years 6 5
Expected volatility 0.230 0.286
Expected dividends  -  -

  Nine Months Ended
Weighted-Average Exercise Price and Fair Value of Options on the Date of Grant September 30, 2017 October 1, 2016
Exercise price $ 151.24 $ 122.65
Fair value $ 40.49 $ 34.63
Stock Options Outstanding Roll Forward

The following table summarizes stock option activity for the plans for the nine months ended September 30, 2017 (in thousands, except per share data):

    Number of Shares Price per Share Weighted-Average Exercise Price per Share
Outstanding at December 31, 2016 2,697 $38.09to$139.51 $106.55
 Granted 217 $136.43to$184.89 $151.24
 Exercised (751) $41.20to$134.37 $90.28
 Canceled (43) $87.06to$136.43 $115.82
Outstanding at September 30, 2017 2,120 $38.09to$184.89 $116.70
Restricted Stock Units Unvested Roll Forward

The following table summarizes the unvested restricted stock unit award activity for the nine months ended September 30, 2017 (in thousands, except per share data):

   Shares Weighted-Average Price per Share
Unvested at December 31, 2016 453 $110.34
 Granted 106 $154.31
 Vested (140) $106.06
 Forfeited (17) $116.83
Unvested at September 30, 2017  402 $123.15
Relevant Data Used to Determine the Value of Performance Shares

The relevant data used to determine the value of the performance stock units granted during 2017 is as follows:

Performance Stock Units Issued and Significant Assumptions Used to Estimate Fair Values 2017
Performance stock units issued in thousands 20
Risk-free interest rate 1.5%
Expected life in years  3
Expected volatility  0.232
Average volatility of peer companies  0.261
Correlation coefficient  0.385
Expected dividends  -
Performance Stock Units Unvested Roll Forward

The following table summarizes the unvested performance stock unit award activity for the nine months ended September 30, 2017 (in thousands, except per share data):

 

   Shares Weighted-Average Fair Value per Share
Unvested at December 31, 2016  27 $ 171.16
 Granted  20 $ 198.78
Unvested at September 30, 2017  47 $ 184.40