Most prisoners don't want to escape, or cause harm, they just want to finish the term and go home and move on. I'd say you could have the honor system (unlocked doors) for 95 percent of prisoners, by letting them know if they escape they'll go to a more secure and less free prison. Then you make prison a place to learn new skills and get treatment for addictions and therapy, and you'll actually see some improvement in society. Also, send less people to prison.
We already have prisons like that for low-risk, nonviolent offenders. They are called minimum security or "country club" prisons. We also have home detention.
In America that's so rare it's nonexistent. A few rich white collar criminals might get home detention, but for most people who have the option, it's too expensive, with fees of hundreds of dollars a month or more. Country club prisons aren't a real thing, that's just talking points for the "tough on crime" politicians who want to make prison sound fun.
