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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
--- | --- | ---
Oct. 01, 2021 | Oct. 02, 2020 | Oct. 01, 2021 | Oct. 02, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | $ 3,663 | $ 3,126 | $ 10,985 | $ 8,965
Amounts capitalized as part of inventory | 383 | 287 | 1,082 | 847
Total stock-based compensation expense, gross | 4,046 | 3,413 | 12,067 | 9,812
Cost of Sales |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 61 | 30 | 150 | 82
General and Administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 1,671 | 1,307 | 4,925 | 3,601
Selling and Marketing |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | 851 | 807 | 2,637 | 2,674
Research and Development Expense |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense, net | $ 1,080 | $ 982 | $ 3,273 | $ 2,608

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