Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Parenthetical) (Details) - shares		12 Months Ended
	Jan. 01, 2023	Dec. 31, 2023	Dec. 31, 2022	Feb. 05, 2021
Class Of Stock [Line Items]
Treasury stock, shares at cost		541,000	541,000
2016 Equity Incentive Plan
Class Of Stock [Line Items]
Number of authorized shares increased	431,000
2016 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Number of authorized shares increased	100,000
Inducement Plan
Class Of Stock [Line Items]
Number of authorized shares				300,000
Number of shares issued		188,000