Income taxes - Narrative (Details) - USD ($)	9 Months Ended	12 Months Ended
	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, Domestic		$ 441,700,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions		2,543,000	$ 3,081,000	$ 2,541,000
Income (Loss) from Continuing Operations before Income Taxes, Domestic		26,215,000	83,419,000	(70,572,000)
Income tax (benefit) expense		5,606,000	(281,071,000)	4,826,000
Loss before income taxes		$ 34,453,000	$ 90,100,000	$ (61,957,000)
Effective tax rate	(312.00%)	16.30%	(312.00%)	(7.80%)
Current Foreign Tax Expense (Benefit)		$ 2,076,000	$ (7,669,000)	$ 4,956,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions		2,543,000	3,081,000	2,541,000
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions		0	3,900,000	1,681,000
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions		(459,000)	(13,122,000)	(3,929,000)
Unrecognized Tax Benefits		23,414,000	21,330,000	27,471,000	$ 27,178,000
Accruals and reserves		22,001,000	10,514,000
Total deferred tax assets		284,112,000	280,819,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate		9,800,000	7,300,000	15,300,000
Income (Loss) from Continuing Operations before Income Taxes, Foreign		8,238,000	6,681,000	$ 8,615,000
Net operating loss carryforwards		118,399,000	158,125,000
Tax credit carryforwards		91,147,000	85,650,000
Stock-based compensation		6,034,000	5,551,000
Allowance for returns		1,818,000	2,504,000
Intangible assets		3,753,000	4,803,000
Deferred Tax Assets, Operating Loss Carryforwards, Domestic		441,700,000
Significant Change in Unrecognized Tax Benefits is Reasonably Possible, Amount of Unrecorded Benefit		2,300,000
Deferred Tax Assets, Property, Plant and Equipment		1,661,000	1,313,000
Deferred Tax Liabilities, Other		5,072,000	6,389,000
Deferred Tax Liabilities, Gross, Total		5,072,000	6,389,000
Deferred Tax Liabilities, Deferred Expense, Capitalized Research and Development Costs		29,122,000	$ 0
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount		51,400,000
Tax Credit Carryforward, Amount		51,400,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount		50,200,000
Tax Credit Carryforward, Amount		50,200,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		235,900,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		235,900,000
States Other than CA [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		167,200,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		$ 167,200,000