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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Options granted in period (in shares)     1,086,458  
Fair value of underlying common stock (in shares)     $ 31.18 $ 42.29
Unrecognized stock-based compensation expense related to unvested stock options     $ 44.4  
Total fair value of options vested during period     $ 16.5 $ 10.1
Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unvested award, period for recognition     2 years 6 months 3 days  
2017 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized (in shares)     584,646  
2020 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of shares authorized (in shares)     2,948,523  
Annual percentage increase in shares authorized     4.00%  
Number of additional shares authorized (in shares)   958,993    
Vesting period   4 years    
Contractual term   10 years    
Number of shares available for future grants (in shares)     972,377  
2020 Plan | Subsequent Event        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Number of additional shares authorized (in shares) 1,101,738