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Capital Structure - Additional Information (Details)
 3 Months Ended
Apr. 03, 2023
USD ($)
Jan. 03, 2023
USD ($)
Jun. 30, 2021
USD ($)
$ / shares
shares
Aug. 19, 2020
USD ($)
Mar. 31, 2023
USD ($)
vote
$ / shares
shares
Mar. 31, 2022
USD ($)
Dec. 31, 2022
$ / shares
shares
Jun. 16, 2022
shares
Jun. 15, 2022
shares
Class of Stock [Line Items]                  
Dividends         $ 0        
Common stock, shares authorized (in shares) | shares         150,000,000   150,000,000 150,000,000 100,000,000
Minimum                  
Class of Stock [Line Items]                  
Preferred stock, ownership percentage     5.00%            
Maximum                  
Class of Stock [Line Items]                  
Preferred stock, ownership percentage     10.00%            
2020 Shelf Registration Statement                  
Class of Stock [Line Items]                  
Consideration received on transaction       $ 250,000,000          
2015 Plan                  
Class of Stock [Line Items]                  
Number of shares available for grant (in shares) | shares         4,100,000        
Liability, accrued expenses, non-vested         $ 800,000        
2017 New Hire Plan                  
Class of Stock [Line Items]                  
Number of shares available for grant (in shares) | shares         1,100,000        
Common Stock                  
Class of Stock [Line Items]                  
Number of votes per share (vote) | vote         1        
Series B Preferred Stock                  
Class of Stock [Line Items]                  
Preferred stock, par value (in dollars per share) | $ / shares     $ 0.0001   $ 0.0001   $ 0.0001    
Preferred stock, liquidation preference (in dollars per share) | $ / shares     $ 1,000            
Preferred stock, dividend rate, percentage one     9.50%            
Preferred stock, dividend rate, percentage two     13.00%            
Preferred stock, dividend rate, percentage three     14.00%            
Liquidation and redemption value         $ 73,200,000        
Multiplier of par     1.5            
Proceeds from sale of stock transactions used for redemption of shares     $ 50,000,000            
Proceeds from sale of stock transactions, used for redemption of shares and buy back of shares     25,000,000            
Series B Preferred dividend paid in cash   $ 2,300,000     $ 2,298,000 $ 1,781,000      
Series B Preferred Stock | Subsequent Event                  
Class of Stock [Line Items]                  
Series B Preferred dividend paid in cash $ 2,470,000                
Series B Preferred Stock | Private Placement                  
Class of Stock [Line Items]                  
Consideration received on transaction     $ 72,500,000            
Number of shares issued in transaction (in shares) | shares     75,000