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Stockholders' Equity - Stock Options Outstanding and Exercisable (Details) - $ / shares
 12 Months Ended
Dec. 28, 2019
Dec. 29, 2018
Stock options outstanding and exercisable    
Options Outstanding, Weighted Average Exercise Price $ 9.20 $ 9.85
Range One    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 1.82  
Range of Exercise Prices, Upper Range Limit $ 4.33  
Options Outstanding, Number of Shares 152,950  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 5 years 11 months 15 days  
Options Outstanding, Weighted Average Exercise Price $ 2.85  
Options Vested and Exercisable, Number of Shares Exercisable 6,626  
Options Vested and Exercisable, Weighted Average Exercise Price $ 4.11  
Range Two    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 4.60  
Range of Exercise Prices, Upper Range Limit $ 4.85  
Options Outstanding, Number of Shares 40,062  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 4 years 9 months 10 days  
Options Outstanding, Weighted Average Exercise Price $ 4.73  
Options Vested and Exercisable, Number of Shares Exercisable 15,062  
Options Vested and Exercisable, Weighted Average Exercise Price $ 4.74  
Range Three    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 4.92  
Range of Exercise Prices, Upper Range Limit $ 4.92  
Options Outstanding, Number of Shares 600,000  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 6 years 4 months 20 days  
Options Outstanding, Weighted Average Exercise Price $ 4.92  
Range Four    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 4.98  
Range of Exercise Prices, Upper Range Limit $ 5.88  
Options Outstanding, Number of Shares 171,788  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 5 years 9 months 18 days  
Options Outstanding, Weighted Average Exercise Price $ 5.38  
Options Vested and Exercisable, Number of Shares Exercisable 49,521  
Options Vested and Exercisable, Weighted Average Exercise Price $ 5.55  
Range Five    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 5.92  
Range of Exercise Prices, Upper Range Limit $ 8.58  
Options Outstanding, Number of Shares 141,004  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 2 years 5 months 4 days  
Options Outstanding, Weighted Average Exercise Price $ 6.97  
Options Vested and Exercisable, Number of Shares Exercisable 109,348  
Options Vested and Exercisable, Weighted Average Exercise Price $ 7.14  
Range Six    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 8.60  
Range of Exercise Prices, Upper Range Limit $ 9.54  
Options Outstanding, Number of Shares 144,750  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 2 years 5 months 19 days  
Options Outstanding, Weighted Average Exercise Price $ 9.28  
Options Vested and Exercisable, Number of Shares Exercisable 104,940  
Options Vested and Exercisable, Weighted Average Exercise Price $ 9.27  
Range Seven    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 10.14  
Range of Exercise Prices, Upper Range Limit $ 11.16  
Options Outstanding, Number of Shares 81,440  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 2 years 6 months 18 days  
Options Outstanding, Weighted Average Exercise Price $ 10.79  
Options Vested and Exercisable, Number of Shares Exercisable 74,369  
Options Vested and Exercisable, Weighted Average Exercise Price $ 10.76  
Range Eight    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 12.85  
Range of Exercise Prices, Upper Range Limit $ 12.85  
Options Outstanding, Number of Shares 15,000  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 3 years 9 months 29 days  
Options Outstanding, Weighted Average Exercise Price $ 12.85  
Options Vested and Exercisable, Number of Shares Exercisable 11,875  
Options Vested and Exercisable, Weighted Average Exercise Price $ 12.85  
Range Nine    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 14.61  
Range of Exercise Prices, Upper Range Limit $ 14.61  
Options Outstanding, Number of Shares 23,438  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 3 years 7 months 9 days  
Options Outstanding, Weighted Average Exercise Price $ 14.61  
Options Vested and Exercisable, Number of Shares Exercisable 17,189  
Options Vested and Exercisable, Weighted Average Exercise Price $ 14.61  
Range Ten    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 16.29  
Range of Exercise Prices, Upper Range Limit $ 16.29  
Options Outstanding, Number of Shares 13,120  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 2 years 5 months 23 days  
Options Outstanding, Weighted Average Exercise Price $ 16.29  
Options Vested and Exercisable, Number of Shares Exercisable 12,132  
Options Vested and Exercisable, Weighted Average Exercise Price $ 16.29  
Range Eleven    
Stock options outstanding and exercisable    
Range of Exercise Prices, Lower Range Limit 1.82  
Range of Exercise Prices, Upper Range Limit $ 16.29  
Options Outstanding, Number of Shares 1,383,552  
Options Outstanding, Weighted Average Remaining Contractual Life (years) 5 years 25 days  
Options Outstanding, Weighted Average Exercise Price $ 6.11  
Options Vested and Exercisable, Number of Shares Exercisable 401,062  
Options Vested and Exercisable, Weighted Average Exercise Price $ 8.80