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Stock-based compensation - Plans Narrative (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Jan. 01, 2024
Jun. 30, 2017
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Feb. 28, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares outstanding (in shares)     12,710,439   10,902,845  
Weighted-average grant date fair value of options granted (in dollars per share)     $ 2.60 $ 6.06    
Intrinsic vale of options exercised     $ 0 $ 0    
Cash received from the exercise of stock options     $ 48 $ 34    
Expected dividend yield     0.00% 0.00%    
Stock options            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Unrecognized stock compensation cost, option     $ 17,800      
Weighted-average amortization period of unrecognized stock compensation cost     2 years      
Restricted stock units            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Unrecognized stock compensation cost     $ 15,900      
Weighted-average amortization period of unrecognized stock compensation cost     2 years 10 months 24 days      
Restricted stock units | Director            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     1 year      
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) 4,828,469          
Number of options granted in period (in shares)     4,580,278      
Number of shares available for future issuance (in shares)     2,895,583      
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      
2017 Plan | Options granted upon initial election | Director            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     3 years      
2017 Plan | Options granted at annual meeting | Director            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Vesting period     1 year      
Inducement award program            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares available for future issuance (in shares)     1,280,925      
Number of shares authorized (in shares)           2,000,000
Inducement award prior to inducement award program            
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]            
Number of shares outstanding (in shares)     457,500      
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)     814,283