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Stock-based compensation - Narrative (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jun. 01, 2021
Jul. 31, 2021
Apr. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Amended 2020 Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares authorized (in shares) 900,000              
Shares available under the 2020 plan (in shares) 2,821,414              
Stock Options                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized stock-based compensation expense       $ 300,000   $ 300,000    
RSUs                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized stock-based compensation expense       $ 19,400,000   $ 19,400,000    
Shares vested (in shares)           1,445,813    
Shares canceled/forfeited (in shares)           336,294    
Awards granted in the period (in shares)           1,434,500    
Shares outstanding (in shares)       3,274,074   3,274,074   3,621,681
Market-based RSUs                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Aggregate grants awarded (in shares)       705,000   705,000    
Shares outstanding (in shares)       133,875   133,875    
Weighted average closing price vesting trigger       30 days   30 days    
Shares vested (in shares)           437,125    
Shares canceled/forfeited (in shares)           134,000    
Unrecognized share based compensation       $ 200,000   $ 200,000    
Performance-based RSUs | April 2020                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares vested (in shares)           0    
Shares canceled/forfeited (in shares)           14,950    
Awards granted in the period (in shares)     90,400          
Revenue over four fiscal quarters (at least)     $ 425,000,000          
Performance-based RSUs | July 2021                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares vested (in shares)           0    
Awards granted in the period (in shares)   165,000            
Revenue over four fiscal quarters (at least)   $ 100,000,000            
SAUs                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Awards granted in the period (in shares)       0 0 0 0  
Shares outstanding (in shares)       150,000   150,000   150,000
SAU-related liabilities       $ 600,000   $ 600,000   $ 700,000
ESPP                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Unrecognized stock-based compensation expense       $ 100,000   100,000    
Inventories                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Share-based compensation capitalized           $ 200,000   $ 300,000