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Stock-based compensation - Plans Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Jan. 01, 2023
Jun. 30, 2017
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Feb. 28, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares outstanding (in shares)     12,299,527   10,051,283  
Weighted-average grant date fair value of options granted (in dollars per share)     $ 6.06 $ 4.39    
Cash received from the exercise of stock options     $ 34 $ 96    
Expected dividend yield     0.00% 0.00%    
Stock options            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Unrecognized stock compensation cost     $ 36,700      
Weighted-average amortization period of unrecognized stock compensation cost     2 years 2 months 12 days      
Restricted stock units            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Unrecognized stock compensation cost     $ 21,400      
Weighted-average amortization period of unrecognized stock compensation cost     3 years 2 months 12 days      
Restricted stock units | Maximum            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     4 years      
Restricted stock units | Minimum            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     1 year      
2017 Plan            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Cumulative annual increase in number of shares issuable   4.00%        
Additional shares authorized (in shares) 4,205,794          
Number of shares available for future issuance (in shares)     1,738,539      
Number of options granted in period (in shares)     4,317,336      
2017 Plan | Maximum            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Expiration period     10 years      
2017 Plan | Stock options            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     4 years      
Inducement award program            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares authorized (in shares)           2,000,000
Number of shares available for future issuance (in shares)     1,105,305      
Number of options granted in period (in shares)     236,870      
Inducement award prior to inducement award program            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares outstanding (in shares)     757,500      
2017 ESPP | Employee stock purchase plan            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Additional shares authorized (in shares) 450,000          
Number of shares available for future issuance (in shares)     745,791      
Purchase of common stock under ESPP (in shares)     0 0