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Note 15 Stock-Based Compensation
 12 Months Ended
Sep. 28, 2019
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Share-based Payment Arrangement [Text Block] Stock-Based Compensation

Stock-based compensation expense was attributable to: 
 
Year Ended
 
September 28,
2019
 
September 29,
2018
 
September 30,
2017
 
(In thousands)
Stock options
$
1,250

 
$
1,779

 
$
1,640

Restricted stock units, including performance-based awards
29,594

 
31,046

 
36,280

Total
$
30,844

 
$
32,825

 
$
37,920



Stock-based compensation expense was recognized as follows:
 
Year Ended
 
September 28,
2019
 
September 29,
2018
 
September 30,
2017
 
(In thousands)
Cost of sales
$
9,757

 
$
8,187

 
$
8,959

Selling, general & administrative
20,807

 
25,206

 
28,169

Research & development
280

 
(568
)
 
792

Total
$
30,844

 
$
32,825

 
$
37,920


 
Restricted Stock Units
 
The Company grants restricted stock units to executive officers, directors and certain management employees. These units vest over periods ranging from one to four years or based upon achievement of specified performance criteria and are automatically exchanged for shares of common stock at the vesting date. Compensation expense associated with these units is recognized ratably over the vesting period.
 
 Activity with respect to the Company's restricted stock units was as follows:
 
Number of Shares
 
Weighted Grant-Date Fair Value Per Share
($)
 
Weighted-Average Remaining Contractual Term
(Years)
 
Aggregate Intrinsic Value
($)
 
(In thousands)
 
 
 
 
 
(In thousands)
Outstanding as of October 1, 2016
3,998

 
19.57

 
1.35
 
110,183

Granted
1,378

 
34.11

 
 
 
 
Vested/Forfeited/Cancelled
(2,017
)
 
16.20

 
 
 
 
Outstanding as of September 30, 2017
3,359

 
27.56

 
1.51
 
124,800

Granted
1,102

 
33.51

 
 
 
 
Vested/Forfeited/Cancelled
(1,158
)
 
25.31

 
 
 
 
Outstanding as of September 29, 2018
3,303

 
30.33

 
1.21
 
97,913

Granted
1,843

 
25.09

 
 
 
 
Vested/Forfeited/Cancelled
(1,993
)
 
29.46

 
 
 
 
Outstanding as of September 28, 2019
3,153

 
27.82

 
1.30
 
102,720

Expected to vest as of September 28, 2019
2,660

 
27.99

 
1.14
 
86,655


 
The fair value of restricted stock units that vested during the year was $29 million for 2019, $36 million for 2018 and $53 million for 2017. As of September 28, 2019, unrecognized compensation expense of $34 million is expected to be recognized over a weighted average period of 1.2 years. Additionally, as of September 28, 2019, unrecognized compensation expense related to performance-based restricted stock units for which achievement of vesting criteria is not currently considered probable was $7 million.