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Stockholders' Equity - Stock Options Outstanding and Exercisable (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2022 | Jan. 01, 2022
Stock options outstanding and exercisable |  |
Options Outstanding, Weighted Average Exercise Price | $ 8.22 | $ 5.14
Range One |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 1.82
Range of Exercise Prices, Upper Range Limit |  | 2.12
Options Outstanding, Number of Shares | 11,175 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 4 years 2 months 26 days |
Options Outstanding, Weighted Average Exercise Price | $ 1.99 |
Options Vested and Exercisable, Number of Shares Exercisable | 7,162 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 1.99 |
Range Two |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 2.13
Range of Exercise Prices, Upper Range Limit |  | 2.13
Options Outstanding, Number of Shares | 349,585 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 4 years 3 months 29 days |
Options Outstanding, Weighted Average Exercise Price | $ 2.13 |
Options Vested and Exercisable, Number of Shares Exercisable | 224,545 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 2.13 |
Range Three |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 2.18
Range of Exercise Prices, Upper Range Limit |  | 2.27
Options Outstanding, Number of Shares | 54,667 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 4 years 7 days |
Options Outstanding, Weighted Average Exercise Price | $ 2.24 |
Options Vested and Exercisable, Number of Shares Exercisable | 44,240 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 2.24 |
Range Four |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 2.28
Range of Exercise Prices, Upper Range Limit |  | 2.28
Options Outstanding, Number of Shares | 461,913 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 6 years 3 months 7 days |
Options Outstanding, Weighted Average Exercise Price | $ 2.28 |
Options Vested and Exercisable, Number of Shares Exercisable | 0 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 0 |
Range Five |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 2.30
Range of Exercise Prices, Upper Range Limit |  | 4.86
Options Outstanding, Number of Shares | 193,648 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 5 years 3 days |
Options Outstanding, Weighted Average Exercise Price | $ 3.43 |
Options Vested and Exercisable, Number of Shares Exercisable | 84,574 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 3.62 |
Range Six |  |
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) | 5 years 4 months 20 days |
Options Outstanding, Weighted Average Exercise Price | $ 4.92 |
Options Vested and Exercisable, Number of Shares Exercisable | 279,167 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 4.92 |
Range Seven |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 6.57
Range of Exercise Prices, Upper Range Limit |  | 6.57
Options Outstanding, Number of Shares | 194,854 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 3 years 8 months 12 days |
Options Outstanding, Weighted Average Exercise Price | $ 5.71 |
Options Vested and Exercisable, Number of Shares Exercisable | 146,606 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 5.61 |
Range Eight |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 6.58
Range of Exercise Prices, Upper Range Limit |  | 6.58
Options Outstanding, Number of Shares | 238,263 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 4 years 11 months 23 days |
Options Outstanding, Weighted Average Exercise Price | $ 6.58 |
Options Vested and Exercisable, Number of Shares Exercisable | 79,575 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 6.58 |
Range Nine |  |
Stock options outstanding and exercisable |  |
Range of Exercise Prices, Lower Range Limit |  | 6.67
Range of Exercise Prices, Upper Range Limit |  | 14.61
Options Outstanding, Number of Shares | 128,400 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 2 years 6 months 7 days |
Options Outstanding, Weighted Average Exercise Price | $ 10.09 |
Options Vested and Exercisable, Number of Shares Exercisable | 100,262 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 10.75 |
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 | 462 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 6 months 25 days |
Options Outstanding, Weighted Average Exercise Price | $ 16.29 |
Options Vested and Exercisable, Number of Shares Exercisable | 462 |
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 | 2,232,967 |
Options Outstanding, Weighted Average Remaining Contractual Life (years) | 4 years 11 months 23 days |
Options Outstanding, Weighted Average Exercise Price | $ 4.27 |
Options Vested and Exercisable, Number of Shares Exercisable | 966,593 |
Options Vested and Exercisable, Weighted Average Exercise Price | $ 4.87 |

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- Definition Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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