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Condensed Consolidated Statements of Comprehensive Loss (Unaudited) (Parenthetical) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2018 | Apr. 01, 2017
Systems |  |
Stock-based compensation | $ 112 | $ 116
Services |  |
Stock-based compensation | 77 | 56
Research and development |  |
Stock-based compensation | 983 | 1,326
Sales and marketing |  |
Stock-based compensation | 850 | 1,111
General and administrative |  |
Stock-based compensation | $ 735 | $ 931

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