Income taxes - Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 118,399	$ 158,125
Tax credit carryforwards	91,147	85,650
Stock-based compensation	6,034	5,551
Allowance for returns	1,818	2,504
Intangible assets	3,753	4,803
Deferred Tax Assets, Operating lease liabilities	10,177	12,359
Deferred Tax Assets, Property, Plant and Equipment	1,661	1,313
Accruals and reserves	22,001	10,514
Total deferred tax assets	284,112	280,819
Deferred Tax Liabilities Operating Lease Liability	(5,072)	(6,389)
Deferred Tax Liabilities, Gross, Total	5,072	6,389
Deferred Tax Assets, Net, Total	$ 279,040	$ 274,430	$ 274,430