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Stockholders' Equity - Schedule of Compensation Cost (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 | $ 3,663 | $ 3,126 | $ 10,985 | $ 8,965
Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 2,594 | 2,469 | 7,850 | 7,206
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 109 | 119 | 507 | 273
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 700 | 415 | 2,048 | 1,238
Performance Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 124 | 54 | 325 | 54
Non Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 136 | $ 69 | $ 255 | $ 194

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