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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Jan. 01, 2023
Jun. 17, 2022
Jun. 11, 2019
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, purchase price of common stock, percent       110.00%  
Share-based compensation arrangement by share-based payment award, award vesting period       4 years  
Share-based compensation arrangement by share-based payment award, expiration period       10 years  
Granted (in shares)       909,527 307,529
Granted (in dollars per share)       $ 3.34 $ 16.78
2019 Equity Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, percentage of outstanding stock maximum   4.00% 4.00%    
Share-based compensation arrangement by share-based payment award, number of additional shares authorized   1,132,252      
Share-based compensation arrangement by share-based payment award, period of automatic increase to outstanding stock maximum     10 years    
Share-based compensation arrangement by share-based payment award, shares issued in period 420,742     6,120  
Common stock, capital shares reserved for future issuance       137,097  
2019 and 2017 Equity Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock, capital shares reserved for future issuance       1,039,010  
Employee Stock Ownership Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, percentage of outstanding stock maximum   1.50%      
Share-based compensation arrangement by share-based payment award, maximum number of shares available for grant per year   500,000      
2019 Employee Stock Purchase Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, shares issued in period 157,778        
Share-based Payment Arrangement, Employee          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Granted (in shares)       909,527 307,529
Granted (in dollars per share)       $ 2.82 $ 16.78
Share-based payment arrangement, nonvested award, option, cost not yet recognized, amount       $ 4,012 $ 3,341
Share-based payment arrangement, nonvested award, cost not yet recognized, period for recognition       2 years 7 months 6 days 1 year 4 months 24 days