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Income Taxes - Gross Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Jan. 01, 2022
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]    
Balance at beginning of the fiscal year $ 2,205 $ 2,262
Reductions due to lapse of applicable statute of limitations (333) (57)
Balance at end of the fiscal year $ 1,872 $ 2,205