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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jul. 02, 2021 | Jul. 03, 2020 | Jul. 02, 2021 | Jul. 03, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 3,992 | $ 2,918 | $ 7,322 | $ 5,839
Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 2,784 | 2,505 | 5,256 | 4,737
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 232 | 76 | 398 | 154
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 811 | 274 | 1,348 | 823
Performance Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 108 |  | 201 |
Non Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 57 | $ 63 | $ 119 | $ 125

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