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Income Taxes - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Jan. 01, 2022
Changes in the balances of gross unrecognized tax benefits    
Balance at beginning of period $ 41 $ 203
Reductions as a result of a lapse of the applicable statutes of limitations (6) (162)
Balance at end of the period $ 35 $ 41