Income Taxes - Tax Effect of Temporary Differences and Carryforwards that Give Rise to Significant Portions of the Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Jan. 01, 2022
Deferred tax assets:
Net operating losses	$ 11,264	$ 13,751
Research and development credits	3,904	3,582
Accruals and reserves	2,505	2,637
Deferred revenue	2,640	82
Property and equipment	283	361
Intangible assets	344	268
Section 174 research and experimental expenditures capitalization	1,500	0
Stock compensation	717	574
Other tax credits	1	0
Total deferred tax asset	23,158	21,255
Less: Valuation allowance	(23,078)	(21,280)
Total deferred tax assets, net	80	25
Deferred tax liabilities:
Goodwill	(104)	0
Total deferred tax liabilities	(104)	0
Net deferred tax liabilities	$ (24)	$ (25)