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Stock-Based Compensation - 2021 Employee Stock Purchase Plan (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Jul. 01, 2021 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Stock option compensation expense |  | $ 2,656,000 | $ 2,336,000 | $ 4,325,000 | $ 4,245,000
Options |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Stock option compensation expense |  | $ 0 | $ 0 | 0 | $ 0
Unrecognized stock option compensation expense |  |  |  | $ 0 |
2021 ESPP |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Discount through voluntary payroll deductions | 15.00% |  |  |  |
Remaining shares available for issuance (in shares) | 600,000 | 471,630 |  | 471,630 |

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