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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