Commitments - License agreements (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
License Agreement, Upfront Payments
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Research and development expense	$ 1.5	$ 3.1	$ 0.3
License Agreement, Milestone Payments
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Research and development expense	$ 0.7	$ 2.1	$ 0.8