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Stock-based Compensation - 2017 Employee Stock Purchase Plan (Details) - shares				12 Months Ended
	Jan. 01, 2023	Jan. 01, 2022	Jan. 01, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based Compensation
Number of common stock options granted				1,053,888
Expected term				6 years 1 month 9 days	6 years 1 month 9 days	6 years 1 month 9 days
2017 Employee Stock Purchase Plan
Stock-based Compensation
Common stock reserved for issuance				1,323,026
Percentage increase in authorized shares under the plan				1.00%
Number of additional shares added	0	502,835	0
Number of shares issued				49,819	92,932	38,051
Purchase price of ESPP meeting certain criteria as of the offering period (as a percent)				85.00%
Discount recognized as compensation expense				15.00%

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