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Restructuring charges - Restructuring Costs (Details) - USD ($)
 3 Months Ended 12 Months Ended
Jun. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]        
Restructuring and Related Costs  
Restructuring charges for each period were as follows:
Year ended December 31,
(in thousands)
202220212020
Cost of revenue
$8,090 $70 $1,201 
Research and development
244 600 8,062 
Sales and marketing
137 361 10,684 
General and administrative
77 195 5,449 
Total restructuring charges
$8,548 $1,226 $25,396 
    
Restructuring charges   $ 8,548,000 $ 1,226,000 $ 25,396,000
Operating Lease, Impairment Loss   0 0 12,460,000
Cost of Revenue [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   8,090,000 70,000 1,201,000
Research and Development [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   244,000 600,000 8,062,000
Selling and Marketing Expense [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   137,000 361,000 10,684,000
General and Administrative [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   77,000 195,000 $ 5,449,000
Second quarter 2020 restructuring [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges     31,500,000  
Second quarter 2020 restructuring [Member] | Non-cancelable Leases, Accelerated Depreciation and Other Charges [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges     11,600,000  
Second quarter 2020 restructuring [Member] | Employee Severance [Member]        
Restructuring Cost and Reserve [Line Items]        
Severance Costs $ 7,400,000      
fourth quarter 2022 restructuring        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   8,100,000    
Restructuring charges   8,061,000    
Restructuring Reserve   7,833,000 0  
Other Restructuring Costs   8,061,000    
Restructuring Reserve, Settled without Cash   (228,000)    
fourth quarter 2022 restructuring | Other Restructuring [Member]        
Restructuring Cost and Reserve [Line Items]        
Restructuring Reserve   7,833,000 $ 0  
Restructuring Reserve, Settled without Cash   $ (228,000)