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Share-Based Compensation - Narrative (Details) - USD ($) $ in Millions |  | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Jan. 01, 2023 | Sep. 30, 2023 | Oct. 01, 2022 | Sep. 30, 2023 | Oct. 01, 2022 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares authorized for issuance (in shares) | 23,060,440 |  |  |  |  |
Stock options outstanding (in shares) |  | 4,383,626 |  | 4,383,626 |  | 3,999,933
Shares issued for stock option exercises (in shares) |  |  |  | (8,862,470) |  | (8,145,769)
Shares available for grant (in shares) |  | 8,512,215 |  | 8,512,215 |  | 7,848,832
RSU |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares issuable (in shares) |  | 1,399,909 |  | 1,399,909 |  | 993,313
Share-based compensation expense |  | $ 4.4 | $ 5.2 | $ 14.8 | $ 16.4 |
Unrecognized compensation expense, period of recognition |  |  |  | 1 year 3 months 18 days |  |
Unrecognized share-based compensation expense |  | 19.3 |  | $ 19.3 |  |
RSU | New Employees | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  |  | 4 years |
RSU | Employees | First Anniversary | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting percentage |  |  |  | 25.00% | 25.00% |
RSU | Employees | Thereafter | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 3 years | 3 years |
RSU | Continuing Employees | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 1 year |  |
RSU | Continuing Employees | First Anniversary | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting percentage |  |  |  | 50.00% | 50.00% |
RSU | Board of Directors | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 1 year | 1 year |
RSU | New Board of Directors | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  |  |  | 3 years | 3 years |
Stock Options |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation expense |  | 2.1 | $ 4.1 | $ 9.0 | $ 12.5 |
Unrecognized compensation expense |  | $ 16.1 |  | $ 16.1 |  |
Unrecognized compensation expense, period of recognition |  |  |  | 1 year 4 months 24 days |  |
Stock Options | New Employees | First Anniversary |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting percentage |  | 0.00% | 25.00% | 25.00% | 25.00% |
Stock Options | New Employees | Thereafter |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Vesting period |  | 3 years | 3 years | 3 years | 3 years |
2018 Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Number of additional shares authorized (in shares) | 2,144,521 |  |  | 2,144,521 |  |
Shares available for grant (in shares) |  | 8,512,215 |  | 8,512,215 |  | 7,848,832
2018 ESPP |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares available for grant (in shares) |  | 2,948,715 |  | 2,948,715 |  | 2,412,585
2018 ESPP | Employee Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares authorized for issuance (in shares) |  | 2,948,715 |  | 2,948,715 |  |
Number of additional shares authorized per year (in shares) | 536,130 |  |  |  |  |

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