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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Oct. 01, 2021 | Sep. 30, 2022 | Oct. 01, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 5,727 | $ 3,663 | $ 15,375 | $ 10,985
Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 2,865 | 2,594 | 7,649 | 7,850
Restricted Stock |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 67 | 109 | 618 | 507
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 1,249 | 700 | 3,242 | 2,048
Performance Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | 1,240 | 124 | 2,932 | 325
Non Employee Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Total stock-based compensation expense | $ 306 | $ 136 | $ 934 | $ 255

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