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Stockholders' Equity- Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares
 9 Months Ended
Jan. 01, 2023
Sep. 30, 2023
Dec. 31, 2022
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   431,000    
2016 Employee Stock Purchase Plan        
Class Of Stock [Line Items]        
Number of authorized shares increased 100,000      
2021 Inducement Plan        
Class Of Stock [Line Items]        
Number of authorized shares       300,000