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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares
 12 Months Ended
Jan. 01, 2022
Dec. 31, 2022
Dec. 31, 2021
Feb. 05, 2021
Class Of Stock [Line Items]        
Treasury stock, shares at cost   541,000 541,000  
2016 Equity Incentive Plan        
Class Of Stock [Line Items]        
Number of authorized shares increased 404,000,000      
2016 Employee Stock Purchase Plan        
Class Of Stock [Line Items]        
Number of authorized shares increased 100,000,000      
Inducement Plan        
Class Of Stock [Line Items]        
Number of authorized shares       300,000
Number of shares issued   227,300