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The Company and Basis of Presentation - Liquidity (Details)
1 Months Ended 6 Months Ended
May 29, 2018
USD ($)
$ / shares
shares
Aug. 31, 2017
USD ($)
Mar. 31, 2017
USD ($)
$ / shares
shares
Jul. 01, 2018
USD ($)
$ / shares
Jul. 02, 2017
USD ($)
Dec. 31, 2017
USD ($)
$ / shares
Jan. 01, 2017
USD ($)
Liquidity [Line Items]              
Cash and cash equivalents       $ 22,815,000 $ 22,234,000 $ 16,527,000 $ 14,870,000
Revolving line of credit       $ 6,000,000   $ 6,000,000  
Share price (in dollars per share) | $ / shares $ 1.15   $ 1.50 $ 1.15      
Common stock, par value (in dollars per share) | $ / shares $ 0.001   $ 0.001 $ 0.001   $ 0.001  
Exercisable period of warrants 60 months            
Warrants exercise price per share | $ / shares $ 1.38            
Net proceeds from issuance of common stock $ 13,900,000   $ 15,200,000 $ 15,855,000 $ 17,304,000    
Common stock              
Liquidity [Line Items]              
Shares of common stock issued (in shares) | shares 13,500,000   11,300,000        
Common stock | Maximum              
Liquidity [Line Items]              
Warrants to purchase aggregate shares of common stock | shares 5,400,000            
Revolving line of credit | Silicon Valley Bank              
Liquidity [Line Items]              
Cash and cash equivalents in available credit       6,000,000      
Revolving line of credit       $ 6,000,000      
Expiration date       Sep. 24, 2018      
Unrestricted cash or cash equivalents (at least)   $ 6,000,000          
Long-term portion of obligations (at least)   1.40          
Loan advances   $ 6,000,000          
Loan advances subject to increase   $ 12,000,000