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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended
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Apr. 03, 2020 | Mar. 29, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 2,921 | $ 2,641
Employee Stock Options |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 2,232 | 1,430
Restricted Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 78 | 82
Restricted Stock Units (RSUs) |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 549 | 1,104
Non Employee Stock Options |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 62 | $ 25

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