Cash, cash equivalents, and short-term marketable securities - Schedule of Restricted Cash (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022
Investments, Debt and Equity Securities [Abstract]
Cash and cash equivalents at beginning of period	$ 128,885	$ 135,338	$ 177,947
Cash and cash equivalents at end of period	128,732	128,885	135,338
Restricted cash, beginning of period	478	478	478
Restricted cash, end of period	478	478	478
Cash, cash equivalents and restricted cash, beginning of period	129,363	135,816	178,425
Cash, cash equivalents and restricted cash, end of period	$ 129,210	$ 129,363	$ 135,816