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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