Commitments - License agreements (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
License agreement, upfront payments
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Research and development expense	$ 0	$ 1,500,000	$ 3,100,000
License agreement, milestone payments
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Research and development expense	$ 0	$ 700,000	$ 2,100,000