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Share-based compensation - Plans (Details) - shares
9 Months Ended
Sep. 29, 2023
Jan. 01, 2023
Sep. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Expiration period     10 years
Maximum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period     4 years
Minimum      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Vesting period     1 year
2020 Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Threshold Percentage Of Total Number Of Common Stock Outstanding     4.00%
Shares available for future issuance     4,205,361
Increase in shares available for future issuance 2,955,280 485,153  
Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant     473,733
Increase in shares available for future issuance   121,288  
Authorized stock options     125,000
Employee Stock Purchase Plan, Threshold Period For Which Common Stock Is Automatically Added To Arrive At Authorized Shares     10 years
Percentage of outstanding capital stock     1.00%
Number of common shares added in authorized     1,000,000
Awards granted     0