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Stock-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Aggregate intrinsic value of stock options exercised     $ 100 $ 300  
Stock options granted (in shares)     0    
Fair value of stock options vested     $ 700 1,300  
Total stock-based compensation expense     $ 3,106 $ 1,345  
Weighted-average grant date fair value of restricted stock units granted (in usd per share)     $ 4.00 $ 7.99  
Grant date fair value of restricted stock units vested     $ 2,000 $ 100  
Unrecognized compensation expense     $ 35,700    
Options to purchase common stock          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense, weighted-average period for recognition     2 years 10 months 24 days    
Stock options with performance condition          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period         4 years
Stock options granted (in shares)         615,997
Total stock-based compensation expense     $ 200 $ 200  
Stock options with performance condition | Vesting tranche one          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage   21.00%      
Stock options with performance condition | Vesting tranche two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period         38 months
Shares available for future grant under the ESPP          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum shares that may be issued (in shares)     1,572,504    
Maximum number of shares that may be issued, annual increase percentage     1.00%    
Annual increase in number of shares that may be issued, term     10 years    
Maximum number of shares that may be issued, annual increase (in shares)     400,000    
Maximum percentage of eligible compensation     15.00%    
Purchase price percentage     85.00%    
2011 Plan | Stock options - new employees          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period     10 years    
Vesting period     4 years    
2011 Plan | Stock options - new employees | Vesting tranche one          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting percentage     25.00%    
2011 Plan | Stock options - new employees | Vesting tranche two          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period     36 months    
2011 Plan | Stock options - current employees, outside advisors, and non-employee consultants          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Expiration period     10 years    
Vesting period     48 months    
2021 Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Maximum shares that may be issued (in shares)     4,333,333    
Maximum shares that may be issued, annual increase, period     10 years    
Maximum number of shares that may be issued, annual increase percentage     5.00%    
Increase in common stock available for future issuance (in shares) 1,963,010        
Shares available for future grants (in shares)     2,641,083