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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
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 | $ 3,126 | $ 2,558 | $ 8,965 | $ 7,778
Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 2,469 | 2,178 | 7,206 | 5,770
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 119 | 77 | 273 | 236
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 415 | 246 | 1,238 | 1,661
Performance Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 54 |  | 54 |
Non Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 69 | $ 57 | $ 194 | $ 111

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