Stockholders' Equity | Stockholders’ Equity Equity Award Plans 2013 Equity Incentive Plan In May 2013, the Company adopted the 2013 Equity Incentive Plan (the “2013 Equity Plan”). All authorized but unissued shares of the Company’s 2012 Unit Option Plan (the “2012 Plan”) were added to the 2013 Equity Plan’s authorized pool in June 2013. The Company is authorized to issue up to a maximum of 2,929,481 shares of common stock for future issuance, plus up to an additional 4,967,172 shares upon termination of awards under the 2012 Plan. In addition, the 2013 Equity Plan is subject to increase annually on the first day of each of the Company’s fiscal years beginning with fiscal 2014, by an amount equal to the least of (i) 1,464,740 shares, (ii) 5% of the outstanding shares of common stock as of the last day of the immediately preceding fiscal year, or (iii) such other amount as determined by the Company's board of directors. Vested but unexercised options, under the 2013 Equity Plan, expire three months after termination of service with the Company. An additional 1,464,740 shares were authorized during the nine months ended September 30, 2017 . As of September 30, 2017 , outstanding awards under the 2013 Equity Plan and the 2012 Plan covered 3,588,518 shares and 343,037 shares of the Company's common stock, respectively. The 2013 Equity Plan permits the granting of stock options, stock appreciation rights, restricted stock, restricted stock units ("RSUs"), performance units and performance shares to employees, directors and consultants of the Company. Employee Stock Purchase Plan In conjunction with the completion of its initial public offering in June 2013 (the "IPO"), the Company adopted the 2013 Employee Stock Purchase Plan (the “ESPP”). A maximum of 439,422 shares were initially authorized for future issuance. In addition, the ESPP is subject to increase annually on the first day of each of the Company’s fiscal years beginning with fiscal 2014, by an amount equal to the least of (i) 439,422 shares, (i) 1.5% of the outstanding shares of common stock as of the last day of the immediately preceding fiscal year, or (iii) such other amount as determined by the Company’s board of directors. Eligible employees can purchase shares of the Company’s common stock at a discount through payroll deductions of up to 15% of their eligible compensation, subject to plan limitations. Employees are able to purchase shares at 85% of the lower of the fair market value of the Company’s common stock (i) at the date of commencement of the offering period or (ii) at the last day of the purchase period. The ESPP provides for a 24 -month offering period comprised of four purchase periods of approximately six months. The offering periods are scheduled to start on the first trading day on or after February 15 and August 15 of each year, except for the first offering period, which commenced on the first trading day upon the completion of the Company’s IPO, or June 12, 2013, and ended on August 17, 2015. In accordance with the terms of the ESPP, an additional 439,422 shares were authorized for future issuance during the nine months ended September 30, 2017 . The Company recorded stock-based compensation expense for its ESPP of $1.0 million and $4.9 million for the three and nine months ended September 30, 2017 , respectively, and $1.4 million and $2.7 million for the three and nine months ended October 1, 2016 , respectively. For the nine months ended September 30, 2017 there were two purchase periods that resulted in the issuance of 355,800 shares of the Company's common stock at a weighted average purchase price of $26.63 per share. Stock Options Stock options granted under the 2013 Equity Plan and formerly under the 2012 Plan (together, the “Equity Incentive Plans”), are generally subject to a four -year vesting period whereby stock options become 25% vested on the first anniversary of the grant date and then ratably monthly thereafter through the end of the vesting period. Vested stock options may be exercised up to 10 years from the vesting commencement date. Under the 2012 Plan, vested but unexercised stock options expire 30 days after termination of service with the Company. The following table summarizes the stock option activity under the Company’s Equity Incentive Plans: Number of Weighted- Weighted- Aggregate Balance — December 31, 2016 1,391,171 $ 21.19 6.39 $ 35,076 Options granted 177,777 $ 38.43 Options exercised (75,904 ) $ 12.95 Options forfeited/canceled (112,087 ) $ 25.28 Balance — September 30, 2017 1,380,957 $ 23.53 6.17 $ 27,239 Exercisable — September 30, 2017 927,460 $ 17.64 5.69 $ 22,728 Aggregate intrinsic value represents the difference between the exercise price of the awards and the Company’s fair value per share of $42.15 and $45.55 as of September 30, 2017 and December 31, 2016 , respectively, for the total number of underlying options. Restricted Stock Unit Activity RSUs generally vest over a period of one to four years. RSU vesting dates are determined by the Company. The vesting is subject to the employee’s continuing service with the Company over that period. Until vested, RSUs do not have the voting or dividend participation rights of the Company’s common stock and the shares of the Company’s common stock underlying the awards are not considered issued and outstanding. The cost of RSUs is determined using the fair value of the Company’s common stock on the date of the grant. The following table summarizes the RSU activity under the Company’s Equity Incentive Plans: Number of Weighted- Weighted- Aggregate December 31, 2016 2,466,049 $ 26.66 1.39 $ 112,329 RSUs awarded 1,500,180 $ 35.66 RSUs released (867,296 ) $ 25.84 RSUs forfeited (551,779 ) $ 28.60 As of September 30, 2017 2,547,154 $ 31.81 1.43 $ 107,363 Aggregate intrinsic value for RSUs represents the Company’s fair market value per share of $42.15 and $45.55 , as of September 30, 2017 and December 31, 2016 , respectively, for the total number of underlying RSUs. The Company withheld shares totaling $12.6 million in value as a result of employee withholding taxes based on the value of the RSUs on their vesting dates for the nine months ended September 30, 2017 . The total payments for the employees’ tax obligations to the taxing authorities are reflected as financing activities within the condensed consolidated statements of cash flows. Performance-Based Restricted Stock Units During the fiscal year ended December 31, 2016 , the Company awarded 193,000 shares of performance-based RSUs. The vesting conditions of these awards were tied to the Company's fiscal 2016 revenue and operating income performance. These performance-based RSUs could have vested from 0% to 200% of the target grant, based on attainment of the performance goals. The target achievement percentage became known as of December 31, 2016 . On December 31, 2016 , the Company concluded that 149.5% of the target grants were likely to vest. For the three and nine months ended September 30, 2017 , the Company recorded $0.2 million and $1.3 million , respectively, on a graded-vesting basis in stock-based compensation expense related to these performance-based RSU awards. As of September 30, 2017 , there were 66,875 RSUs subject to performance-based vesting criteria. Restricted Stock Award Activity During the nine months ended September 30, 2017 , the Company awarded 254,397 shares of restricted stock awards ("RSAs") at a weighted average grant date fair value of $30.72 , of which 33,345 RSAs with a weighted average grant date fair value of $30.82 vested in the period. RSA vesting dates are determined by the Company. The vesting is subject to the employee’s continuing service with the Company over that period. RSAs have the voting and dividend participation rights of the Company’s common stock. The cost of RSAs is determined using the fair value of the Company’s common stock on the date of the grant. Performance-Based Restricted Stock Awards During the nine months ended, the Company awarded 213,986 shares of performance-based RSAs at a weighted average grant date fair value of $32.01 , of which 6,166 awards with a weighted average grant date fair value of $23.78 vested. The vesting conditions of 166,570 of these awards are tied to the Company's fiscal 2017 revenue and operating income performance. These performance-based RSAs could vest from 0% to 200% of the target grant, based on attainment against the performance goals. Stock-Based Compensation Expense The fair value of the option awards and ESPP purchase rights granted and the assumptions used in the Black-Scholes option pricing model are summarized as follows: Three Months Ended Nine Months Ended September 30, October 1, September 30, October 1, Stock option awards: Expected term (in years) 4.6 0 4.6 4.6 Risk-free interest rate 1.8% —% 1.8% - 1.9% 1.4% Expected volatility 61.6% —% 61.6% - 62.0% 76.1% Expected dividend rate —% —% —% —% Grant date fair value per award $20.33 $— $18.67 - $20.33 $18.62 ESPP purchase right: Expected term (in years) 0.5 - 2.0 0.5 - 2.0 0.5 - 2.0 0.5 - 2.0 Risk-free interest rate 1.12% - 1.32% 0.46% - 0.72% 0.67% - 1.32% 0.42% - 0.74% Expected volatility 45.40% - 58.23% 43.9% - 54.6% 45.40% - 68.64% 43.9% - 67.2% Expected dividend rate —% —% —% —% Grant date fair value per share $11.12 - $18.40 $12.84 - $20.77 $11.12 - $18.40 $7.75 - $20.77 The following table summarizes the stock-based compensation expense recorded in the Company’s condensed consolidated statements of operations (in thousands): Three Months Ended Nine Months Ended September 30, October 1, September 30, October 1, Cost of revenue $ 333 $ 519 $ 1,802 $ 1,527 Research and development $ 4,040 3,397 14,453 9,800 Sales and marketing $ 3,163 3,062 13,108 8,802 General and administrative $ 3,437 3,126 10,628 8,755 Total stock-based compensation expense $ 10,973 $ 10,104 $ 39,991 $ 28,884 As of September 30, 2017 and December 31, 2016 , there was $ 0.4 million and $0.2 million of capitalized stock-based compensation costs, respectively, within the Company's inventory balance. As of September 30, 2017 , unrecognized compensation expense related to stock options, RSUs, RSAs, PSUs, PSAs and ESPP purchase rights was $4.7 million , $44.4 million , $4.1 million , $0.8 million , $0.6 million and $4.5 million , respectively. |