Stockholders' Equity - Stock Options Outstanding and Exercisable (Details) - $ / shares	12 Months Ended
	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