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Employee benefit plans - Fair Value Assumptions for Restricted Stock Units and ESPP (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Interest Rate, Minimum 0.70%    
Interest Rate, Maximum 3.10%    
Employee Stock Purchase Plan Shares [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Volatility Rate, Minimum 39.00% 64.00% 60.00%
Dividend yield 0.00% 0.00% 0.00%
Volatility Rate, Maximum 55.00% 80.00% 98.00%
Interest Rate, Minimum   0.10% 0.10%
Interest Rate, Maximum     1.60%
Equity Option [Member]      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Volatility Rate, Minimum 60.00%   51.00%
Dividend yield 0.00% 0.00% 0.00%
Volatility Rate, Maximum 62.00%   64.00%
Interest Rate, Minimum 2.00% 0.70% 0.40%
Interest Rate, Maximum 3.90% 1.10% 1.50%
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate   64.00%