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Loan and Security Agreement - Additional Information (Details) - Silicon Valley Bank - Revolving Loan Facility - USD ($)
1 Months Ended
Nov. 02, 2016
Dec. 31, 2020
Jan. 31, 2020
Jan. 02, 2021
Dec. 28, 2019
Line Of Credit Facility [Line Items]          
Secured revolving loan facility outstanding       $ 0 $ 0
Loan Agreement          
Line Of Credit Facility [Line Items]          
Borrowings available under secured revolving loan facility $ 15,000,000        
Loan facility, maturity date Nov. 02, 2019        
Loan Agreement, First Amendment          
Line Of Credit Facility [Line Items]          
Debt instrument, extension date     Jan. 01, 2020    
Loan Agreement, Second Amendment          
Line Of Credit Facility [Line Items]          
Borrowings available under secured revolving loan facility     $ 8,000,000    
Debt instrument, extension date     Jan. 01, 2021    
Loan Agreement, Third Amendment          
Line Of Credit Facility [Line Items]          
Debt instrument, extension date   Apr. 01, 2022      
Wall Street Journal Prime Rate | Loan Agreement          
Line Of Credit Facility [Line Items]          
Debt instrument, basis spread on variable interest rate 1.50%