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Stock-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Jan. 01, 2024
shares
Jan. 01, 2021
Oct. 14, 2020
shares
Dec. 31, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Grant date fair value (in dollars per share) | $ / shares       $ 2.50 $ 4.03    
Unrecognized compensation cost       $ 8,000      
Aggregate intrinsic value of options exercised       400 $ 100    
Aggregate intrinsic value of options outstanding       6,600      
Aggregate intrinsic value of options exercisable       6,600      
Stock-based compensation expense       6,939 6,462    
Defined contribution plan, cost       $ 700 500    
Stock options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted-average amortization period       1 year 11 months 8 days      
Expected dividends (in percentage)       0.00%      
Restricted Stock Units              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted-average amortization period       2 years 8 months 12 days      
Unrecognized compensation cost for RSUs       $ 2,000      
Stock-based compensation expense       $ 800 $ 600    
2020 Stock Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Increase in number of shares authorized, percentage of capital stock outstanding             0.04
Additional number of shares reserved for future issuance (in shares) | shares 1,890,404            
Number of shares available for future grant (in shares) | shares       3,983,756      
Stock-based compensation, vesting period       4 years      
Share-based compensation, expiration period       10 years      
2020 Stock Incentive Plan | Tranche One              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation, vesting period         4 years    
Number of shares granted (in shares) | shares       165,050 178,150,000,000    
Closing price (in dollars per share) | $ / shares       $ 4.00 $ 18.00    
Threshold consecutive trading days       30 days 30 days    
2020 Stock Incentive Plan | Tranche Two              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Closing price (in dollars per share) | $ / shares       $ 5.00      
2020 Stock Incentive Plan | Share-Based Payment Arrangement, Tranche Three              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Closing price (in dollars per share) | $ / shares       $ 6.00      
2020 Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Increase in number of shares authorized, percentage of capital stock outstanding           0.01  
Additional number of shares reserved for future issuance (in shares) | shares 472,601     1,204,874      
Purchase price of common stock in percent           85.00%  
Contribution limit in percentage of employee's eligible compensation           15.00%  
Maximum value of shares per employee during any calendar year           $ 25,000  
Maximum number of shares per employee during any one purchase period (in shares) | shares     600        
Share-based compensation arrangement by share-based payment award, annual increase in number of shares authorized, term   10 years          
Stock issued under ESPP (in shares) | shares       23,020 13,088,000,000    
Proceeds from stock plans       $ 100 $ 100