Summary of business and significant accounting policies (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jan. 01, 2022	Nov. 24, 2020	Apr. 12, 2017
Property, Plant and Equipment [Line Items]
Allowance for Doubtful Other Receivables, Current	$ 400	$ 700
Operating Lease, Impairment Loss	0	0	$ 12,460
Contract with Customer, Liability	60,400	48,500
Deferred Revenue, Revenue Recognized	43,100	27,600
Advertising Expense	40,800	35,800	$ 34,100
Accumulated deficit	$ (196,113)	$ (279,345)		$ 47,100
Product Warranty Liability [Line Items]
Warranty Period	12 months
Convertible Senior Notes due 2022 [Member]
Property, Plant and Equipment [Line Items]
Interest rate						3.50%
Debt Instrument						$ 175,000
Convertible Senior Notes due 2025 [Member]
Property, Plant and Equipment [Line Items]
Interest rate					1.25%
Debt Instrument					$ 143,800
Europe [Member]
Product Warranty Liability [Line Items]
Warranty Period	24 months