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Stockholders' Equity - Schedule of Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Apr. 01, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 6,065 | $ 3,894
Employee Stock Options |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 2,977 | 2,327
Restricted Stock |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 67 | 109
Restricted Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 1,601 | 762
Performance Stock Units |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | 1,106 | 382
Non Employee Stock Options |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |
Total stock-based compensation expense | $ 314 | $ 314

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