Stockholders' Equity - Stock Options Outstanding and Exercisable (Details) - $ / shares	12 Months Ended
	Dec. 30, 2023	Dec. 31, 2022
Stock options outstanding and exercisable
Options Outstanding, Weighted Average Exercise Price	$ 5.04	$ 8.22
Range One
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	1.5
Range of Exercise Prices, Upper Range Limit	$ 2.12
Options Outstanding, Number of Shares	51,475
Options Outstanding, Weighted Average Remaining Contractual Life (years)	5 years 9 months 14 days
Options Outstanding, Weighted Average Exercise Price	$ 1.99
Options Vested and Exercisable, Number of Shares Exercisable	12,051
Options Vested and Exercisable, Weighted Average Exercise Price	$ 1.99
Range Two
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	2.13
Range of Exercise Prices, Upper Range Limit	$ 2.13
Options Outstanding, Number of Shares	1,037,809
Options Outstanding, Weighted Average Remaining Contractual Life (years)	5 years 9 months 29 days
Options Outstanding, Weighted Average Exercise Price	$ 2.13
Options Vested and Exercisable, Number of Shares Exercisable	303,464
Options Vested and Exercisable, Weighted Average Exercise Price	$ 2.13
Range Three
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	2.17
Range of Exercise Prices, Upper Range Limit	$ 2.27
Options Outstanding, Number of Shares	70,000
Options Outstanding, Weighted Average Remaining Contractual Life (years)	4 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price	$ 2.22
Options Vested and Exercisable, Number of Shares Exercisable	46,970
Options Vested and Exercisable, Weighted Average Exercise Price	$ 2.23
Range Four
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	2.28
Range of Exercise Prices, Upper Range Limit	$ 2.28
Options Outstanding, Number of Shares	380,620
Options Outstanding, Weighted Average Remaining Contractual Life (years)	5 years 9 months 25 days
Options Outstanding, Weighted Average Exercise Price	$ 2.28
Options Vested and Exercisable, Number of Shares Exercisable	126,867
Options Vested and Exercisable, Weighted Average Exercise Price	$ 2.28
Range Five
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	2.3
Range of Exercise Prices, Upper Range Limit	$ 4.86
Options Outstanding, Number of Shares	162,338
Options Outstanding, Weighted Average Remaining Contractual Life (years)	3 years 9 months 18 days
Options Outstanding, Weighted Average Exercise Price	$ 3.39
Options Vested and Exercisable, Number of Shares Exercisable	119,233
Options Vested and Exercisable, Weighted Average Exercise Price	$ 3.43
Range Six
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	4.92
Range of Exercise Prices, Upper Range Limit	$ 4.92
Options Outstanding, Number of Shares	600,000
Options Outstanding, Weighted Average Remaining Contractual Life (years)	4 years 4 months 20 days
Options Outstanding, Weighted Average Exercise Price	$ 4.92
Options Vested and Exercisable, Number of Shares Exercisable	300,000
Options Vested and Exercisable, Weighted Average Exercise Price	$ 4.92
Range Seven
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	4.98
Range of Exercise Prices, Upper Range Limit	$ 6.58
Options Outstanding, Number of Shares	376,779
Options Outstanding, Weighted Average Remaining Contractual Life (years)	3 years 9 months
Options Outstanding, Weighted Average Exercise Price	$ 6.19
Options Vested and Exercisable, Number of Shares Exercisable	284,274
Options Vested and Exercisable, Weighted Average Exercise Price	$ 6.10
Range Eight
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	6.76
Range of Exercise Prices, Upper Range Limit	$ 9.54
Options Outstanding, Number of Shares	55,500
Options Outstanding, Weighted Average Remaining Contractual Life (years)	3 years 2 months 26 days
Options Outstanding, Weighted Average Exercise Price	$ 7.9
Options Vested and Exercisable, Number of Shares Exercisable	41,159
Options Vested and Exercisable, Weighted Average Exercise Price	$ 8
Range Nine
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	11.16
Range of Exercise Prices, Upper Range Limit	$ 11.16
Options Outstanding, Number of Shares	3,400
Options Outstanding, Weighted Average Remaining Contractual Life (years)	3 months 25 days
Options Outstanding, Weighted Average Exercise Price	$ 11.16
Options Vested and Exercisable, Number of Shares Exercisable	3,400
Options Vested and Exercisable, Weighted Average Exercise Price	$ 11.16
Range Ten
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	14.61
Range of Exercise Prices, Upper Range Limit	$ 14.61
Options Outstanding, Number of Shares	20,000
Options Outstanding, Weighted Average Remaining Contractual Life (years)	2 months 4 days
Options Outstanding, Weighted Average Exercise Price	$ 14.61
Options Vested and Exercisable, Number of Shares Exercisable	20,000
Options Vested and Exercisable, Weighted Average Exercise Price	$ 14.61
Range Eleven
Stock options outstanding and exercisable
Range of Exercise Prices, Lower Range Limit	1.5
Range of Exercise Prices, Upper Range Limit	$ 14.61
Options Outstanding, Number of Shares	2,757,921
Options Outstanding, Weighted Average Remaining Contractual Life (years)	4 years 11 months 19 days
Options Outstanding, Weighted Average Exercise Price	$ 3.60
Options Vested and Exercisable, Number of Shares Exercisable	1,257,418
Options Vested and Exercisable, Weighted Average Exercise Price	$ 4.25