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Shareholders' Equity - Additional Information (Details) |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Jan. 01, 2024 shares | Jan. 01, 2023 shares | Jan. 01, 2020 | Dec. 31, 2023 Vote
Class Of Stock [Line Items] |  |  |  |
Common stock voting rights description |  |  |  | Holders of our common stock are entitled to one vote for each share of common stock held
Number of vote for each share | Vote |  |  |  | 1
Employee Stock Purchase Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Increase in share reserve |  | 1,431,050 |  |
Employee Stock Purchase Plan | Subsequent Event |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Increase in share reserve | 1,450,822 |  |  |
Employee Stock Purchase Plan | Maximum |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Percentage of annual increases in number of shares |  |  | 1.00% |
2019 Equity Incentive Plan |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Increase in share reserve |  | 7,155,250 |  |
2019 Equity Incentive Plan | Subsequent Event |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Increase in share reserve | 7,254,113 |  |  |
2019 Equity Incentive Plan | Maximum |  |  |  |
Class Of Stock [Line Items] |  |  |  |
Percentage of annual increases in number of shares |  |  | 5.00% |

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