Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Jan. 01, 2023
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits at beginning of year	$ 13,513	$ 18,478
Decreases related to positions taken in prior years	(160)	(221)
Decreases related to positions taken in prior years due to lapse of statute	(2,817)	(4,744)
Unrecognized tax benefits at end of year	$ 10,536	$ 13,513