Fair Value Measurements and Disclosures - Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands | Apr. 01, 2017 | Dec. 31, 2016 |
Assets: | | |
Total marketable securities | $ 84,679 | $ 82,899 |
Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 1,858 | 3,458 |
Total marketable securities | 84,679 | 82,899 |
Total | 86,537 | 86,357 |
Money market funds [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 858 | 959 |
Commercial paper and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 1,000 | 2,499 |
U.S. Treasury securities and U.S. Government agency debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 11,709 | 17,072 |
Certificates of deposits [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 21,505 | 23,019 |
Commercial paper [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 22,323 | 22,402 |
Municipal securities and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 25,869 | 14,943 |
Asset-backed Securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 3,273 | 5,463 |
Cash [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 45,600 | 43,600 |
Level 1 [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 858 | 959 |
Total marketable securities | 0 | 0 |
Total | 858 | 959 |
Level 1 [Member] | Money market funds [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 858 | 959 |
Level 1 [Member] | Commercial paper and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 0 | 0 |
Level 1 [Member] | U.S. Treasury securities and U.S. Government agency debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 1 [Member] | Certificates of deposits [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 1 [Member] | Commercial paper [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 1 [Member] | Municipal securities and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 1 [Member] | Asset-backed Securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 2 [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 1,000 | 2,499 |
Total marketable securities | 84,679 | 82,899 |
Total | 85,679 | 85,398 |
Level 2 [Member] | Money market funds [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 0 | 0 |
Level 2 [Member] | Commercial paper and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 1,000 | 2,499 |
Level 2 [Member] | U.S. Treasury securities and U.S. Government agency debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 11,709 | 17,072 |
Level 2 [Member] | Certificates of deposits [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 21,505 | 23,019 |
Level 2 [Member] | Commercial paper [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 22,323 | 22,402 |
Level 2 [Member] | Municipal securities and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 25,869 | 14,943 |
Level 2 [Member] | Asset-backed Securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 3,273 | 5,463 |
Level 3 [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 0 | 0 |
Total marketable securities | 0 | 0 |
Total | 0 | 0 |
Level 3 [Member] | Money market funds [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 0 | 0 |
Level 3 [Member] | Commercial paper and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total cash equivalents | 0 | 0 |
Level 3 [Member] | U.S. Treasury securities and U.S. Government agency debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 3 [Member] | Certificates of deposits [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 3 [Member] | Commercial paper [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 3 [Member] | Municipal securities and corporate debt securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | 0 | 0 |
Level 3 [Member] | Asset-backed Securities [Member] | Fair Value, Measurements, Recurring [Member] | | |
Assets: | | |
Total marketable securities | $ 0 | $ 0 |