Stock-Based Compensation - Schedule of Allocation of Recognized Period Cost (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 28, 2020	Jun. 30, 2019	Jun. 28, 2020	Jun. 30, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Total costs and expenses	$ 741,000	$ 791,000	$ 343,000	$ 1,742,000
Stock-based compensation, capitalized costs	0	0	0	0
Cost of revenue
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Total costs and expenses	31,000	18,000	43,000	44,000
Research and development
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Total costs and expenses	486,000	532,000	22,000	1,187,000
Selling, general and administrative
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]
Total costs and expenses	$ 224,000	$ 241,000	$ 278,000	$ 511,000