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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 28, 2019
Share based compensation expense by classification [Line Items]  
Share based compensation expense by classification [Table Text Block]
Stock-based compensation breaks down by expense classification as follows (in thousands):

 
Fiscal Year Ended
 
December 28,
2019
 
December 29,
2018
 
December 30,
2017
Cost of revenue
$
1,486

 
$
1,407

 
$
1,082

Research and development
9,186

 
7,494

 
5,009

Selling and marketing
3,323

 
2,842

 
2,571

General and administrative
9,749

 
14,061

 
11,089

Total
$
23,744

 
$
25,804

 
$
19,751
Summary of stock option plan activity
The following table summarizes stock option activity for fiscal years 2019, 2018 and 2017:
 
Number of
Shares
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Term
 
Aggregate
Intrinsic
Value(1)
Outstanding at December 31, 2016
1,088,174

 
$
32.27

 
 
 
 
Granted
10,975

 
57.33

 
 
 
 
Exercised
(367,267
)
 
28.79

 
 
 
 
Canceled
(18,928
)
 
36.72

 
 
 
 
Outstanding at December 30, 2017
712,954

 
$
34.34

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(239,830
)
 
33.40

 
 
 
 
Canceled
(10,863
)
 
46.20

 
 
 
 
Outstanding at December 29, 2018
462,261

 
$
34.55

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(127,024
)
 
32.95

 
 
 
 
Canceled
(12,329
)
 
37.03

 
 
 
 
Outstanding at December 28, 2019
322,908

 
$
35.08

 
2.47 years
 
$5.65 million
Vested and expected to vest at December 28, 2019
322,908

 
$
35.08

 
2.47 years
 
$5.65 million
Exercisable as of December 28, 2019
293,159

 
$
34.30

 
2.35 years
 
$5.32 million
 _________________________
(1)
The aggregate intrinsic value on the table above represents the difference between the Company's closing stock price on December 28, 2019 of $50.20 and the exercise price of the underlying in-the-money option.
Activities relating to time based restricted stock units
The following table summarizes the time-based restricted stock unit activity for fiscal years 2019, 2018 and 2017:
 
Number of
Shares Underlying
Restricted Stock
 
Weighted Average
Grant Date Fair
Value
Outstanding at December 31, 2016
935,179

 
$
35.07

Granted
396,164

 
72.63

Vested
(351,543
)
 
33.73

Forfeited
(41,347
)
 
39.52

Outstanding at December 30, 2017
938,453

 
$
51.24

Granted
307,614

 
81.55

Vested
(351,816
)
 
47.30

Forfeited
(38,362
)
 
60.62

Outstanding at December 29, 2018
855,889

 
$
63.32

Granted
407,325

 
79.91

Vested
(358,119
)
 
54.89

Forfeited
(85,863
)
 
76.85

Outstanding at December 28, 2019
819,232

 
$
73.83
Activities relating to performance based restricted stock units
The following table summarizes the performance-based restricted stock unit activity for fiscal years 2019, 2018 and 2017:
 
Number of
Shares Underlying
PSU
 
Weighted Average
Grant Date Fair
Value
Outstanding at December 31, 2016
163,911

 
$
35.03

Granted
105,650

 
57.33

Vested
(24,792
)
 
43.35

Forfeited
(2,708
)
 
39.71

Outstanding at December 30, 2017
242,061

 
$
43.97

Granted
91,538

 
68.41

Vested
(56,259
)
 
34.30

Forfeited
(3,221
)
 
45.71

Outstanding at December 29, 2018
274,119

 
$
54.10

Granted
70,827

 
122.20

Vested
(78,943
)
 
33.33

Forfeited
(49,772
)
 
78.29

Outstanding at December 28, 2019
216,231

 
$
78.42
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
Employee Stock Purchase Plan
In May 2017, the Company’s stockholders approved the 2017 Employee Stock Purchase Plan ("ESPP"). Eligible employees may purchase the Company’s common stock through payroll deductions at a price equal to 85% of the lower of the fair market values of the stock as of the beginning or the end of six-month offering periods beginning November 15 and May 15 of each year. An employee’s payroll deductions under the ESPP are limited to 15% of the employee’s compensation, up to $4,000 each period, for the purchase of common stock not to exceed 1,000 shares per offering period. As of December 28, 2019, there were 570,962 shares reserved for future issuance under the ESPP. The Company recognized $1.1 million, $1.0 million, and $0.1 million of stock-based compensation expense during the fiscal years ended December 28, 2019, December 29, 2018, and December 30, 2017, respectively.