A good deal of whether this would be 'worth it' to you depends on whether contributions are made pre-payroll tax by your employer, and whether you are single or married. If so, this is a 15.3% 'savings' over other tax-advantaged accounts (eg a tIRA or 401(k)).
If you are single the maximum contribution is $3500/yr ($7,000 married). So if you are single you save $535.50 in payroll taxes, plus whatever it does to lower your taxable burden. If you are married you will save double that ($1071) assuming you max out your contributions. If your marginal tax rate is 22% you could save an additional $770 (single) / $1,540 (married). Obviously less if you are in a lower bracket.
On the 'cost' side your premiums will be 'about' $100/mo, or $1,200.
So from a purely cost-benefit calculation you will roughly break even if you are single, but you could save over $1,000 in taxes if you are married.
This of course doesn't take into account things like participating in a company-match for a 401(k) (do it!), nor does it address possible healthcare *costs* should you need medical treatment (you'd have to compare costs under your company's plan vs your parents plan). It also doesn't factor in savings to your parents, which may or may not be important or significant to you/them.
tl;dr - it's likely a wash if you are single, it will save you some money if you are married, though currently that burden is being shouldered by your parents.