Leases - Schedule of lease term and discount (Details)	Sep. 30, 2023	Dec. 31, 2022
Leases
Operating leases, Weighted-average remaining lease term (years)	3 years 3 months 18 days	2 years 8 months 12 days
Finance leases, Weighted-average remaining lease term (years)	3 years 3 months 18 days	3 years 10 months 24 days
Operating leases, Weighted-average discount rate	7.60%	6.90%
Finance leases, Weighted-average discount rate	7.30%	7.10%