Stock-based compensation - Schedule of Stock-Based Compensation Expense as Reflected in the Company's Condensed Consolidated Statements of Operations and Comprehensive Loss (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock options
Share-based compensation expense	$ 6,643	$ 5,348	$ 13,050	$ 10,833
Research and development
Stock options
Share-based compensation expense	3,396	2,746	6,728	5,679
General and administrative
Stock options
Share-based compensation expense	$ 3,247	$ 2,602	$ 6,322	$ 5,154