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Stock-Based Compensation, Equity Incentive Plans (Details) - shares |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2024 | Jan. 01, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock Options [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Stock option outstanding (in shares) |  |  | 389,000 | 359,000 | 199,000
2020 Equity Incentive Plan [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Percentage of number of shares of common stock outstanding |  |  | 5.00% |  |
Number of shares issuable (in shares) |  | 256,000 |  |  |
Number of common stock shares to be issued (in shares) |  |  | 684,000 |  |
Stock option outstanding (in shares) |  |  | 296,000 |  |
Restricted stock units, granted (in shares) |  |  | 0 |  |
2020 Equity Incentive Plan [Member] | Subsequent Event [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Number of shares issuable (in shares) | 271,000 |  |  |  |
2020 Equity Incentive Plan [Member] | Stock Options [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Stock-based compensation shares authorized (in shares) |  |  | 724,000 |  |
Increase in stock-based compensation shares authorized (in shares) |  |  | 300,000 |  |
2020 Equity Incentive Plan [Member] | Incentive Stock Options [Member] | Maximum [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Stock based compensation stock option term period |  |  | 10 years |  |
2020 Equity Incentive Plan [Member] | Nonqualified Stock Options [Member] | Maximum [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Stock based compensation stock option term period |  |  | 10 years |  |
2021 Inducement Plan [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Number of common stock shares to be issued (in shares) |  |  | 68,000 |  |
Stock option outstanding (in shares) |  |  |  | 4,000 |
Restricted stock units, outstanding (in shares) |  |  |  | 1,000 |
2021 Inducement Plan [Member] | Maximum [Member] |  |  |  |  |
Stock-based Compensation [Abstract] |  |  |  |  |
Stock-based compensation shares authorized (in shares) |  |  | 75,000 |  |

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- Definition Percentage of common stock shares outstanding considered for equity number of shares under equity incentive plan. + References No definition available. + Details
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- Definition Number of shares issuable under share-based payment arrangement. + References No definition available. + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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