Stockholders' Equity - Employee Stock Purchase Plans (Details) $ in Millions		3 Months Ended	6 Months Ended
	Jul. 03, 2021 USD ($) period Plan shares	Jul. 03, 2021 USD ($) period Plan shares	Jul. 03, 2021 USD ($) period Plan shares	Jul. 02, 2021 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of employee stock purchase plans | Plan	2	2	2
Recognition period			2 years 4 months 24 days
Unrecognized stock-based compensation expense, stock options | $	$ 31.7	$ 31.7	$ 31.7
2017 Nonqualified Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of additional shares authorized (in shares)	800,000
Number of shares authorized (in shares)	5,500,000	5,500,000	5,500,000
Shares available for future grant (in shares)	2,900,000	2,900,000	2,900,000
Shares purchased under ESPP (in shares)			200,000
Recognition period			1 year 1 month 6 days
Maximum contribution percent (up to 25%)	25.00%	25.00%	25.00%
Employee termination period following purchase date to receive shares subject to risk of forfeiture			1 year
Number of offering periods | period	2	2	2
Offering period			6 months
Number of shares authorized per purchase period (in shares)	500,000	500,000	500,000
Unrecognized stock-based compensation expense, stock options | $	$ 6.0	$ 6.0	$ 6.0
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
ESPP, maximum employee payroll deduction percentage	15.00%	15.00%	15.00%
ESPP, maximum number of shares per employee (in shares)			2,000
Offering period			6 months
ESPP, discounted purchase price percentage			85.00%
Number of additional shares authorized (in shares)	1,300,000
Number of shares authorized (in shares)	11,100,000	11,100,000	11,100,000	9,800,000
Shares available for future grant (in shares)	2,400,000	2,400,000	2,400,000
Shares purchased under ESPP (in shares)		200,000
Unrecognized stock-based compensation expense | $	$ 0.3	$ 0.3	$ 0.3
Recognition period			1 month 6 days
Offering period			6 months