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Stockholders' Equity - Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Oct. 02, 2020 | Sep. 27, 2019 | Oct. 02, 2020 | Sep. 27, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | $ 3,126 | $ 2,558 | $ 8,965 | $ 7,778
Amounts capitalized as part of inventory | 287 | 258 | 847 | 723
Total stock-based compensation expense, gross | 3,413 | 2,816 | 9,812 | 8,501
Cost of Sales |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 30 | 7 | 82 | 43
General and Administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 1,307 | 1,082 | 3,601 | 2,878
Marketing and Selling |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 807 | 692 | 2,674 | 2,553
Research and Development Expense |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | $ 982 | $ 777 | $ 2,608 | $ 2,304

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