Basis of presentation and summary of significant accounting policies - Cash and cash equivalents and restricted cash (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Cash and cash equivalents	$ 37,887	$ 142,467
Restricted cash	878	878
Total cash, cash equivalents, and restricted cash	$ 38,765	$ 143,345	$ 193,434