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Employee benefit plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
schedule of share-based compensation, Performance Stock Units Award Activity [Table Text Block]
A summary of the Company’s PSU activity is as follows:
Shares
(in thousands)
Weighted-average grant date fair value
Non-vested shares at December 31, 2022686 

$7.93 
Granted1,254 5.79 
Vested(485)7.71 
Forfeited(631)5.86 
Non-vested shares at December 31, 2023824 $6.38 
Schedule of Share-based Compensation, Stock Options, Activity
A summary of the Company’s stock option activity is as follows:
Shares
(in thousands)
Weighted-average exercise price
Weighted-average remaining contractual term (in years)
Aggregate intrinsic value (in thousands)
Outstanding at December 31, 20223,089 $9.37 5.30$467 
Granted198 3.58 
Exercised— — 
Forfeited/Cancelled(603)11.64 
Outstanding at December 31, 20232,684 $8.43 5.08$— 
Vested and expected to vest at December 31, 20232,684 $8.43 5.08$— 
Exercisable at December 31, 20232,250 $8.92 4.40$— 
Schedule of Share-based Compensation, Restricted Stock Units Award Activity
A summary of the Company’s RSU activity is as follows:
Shares
(in thousands)
Weighted-average grant date fair value
Non-vested shares at December 31, 20228,727 $7.19 
Granted8,595 5.13 
Vested(5,224)6.61 
Forfeited(604)6.68 
Non-vested shares at December 31, 202311,494 $5.94 
Allocation of Stock-based Compensation Expense The following table summarizes stock-based compensation expense included in the Consolidated Statements of Operations:
Year ended December 31,
(in thousands)
202320222021
Cost of revenue
$1,955 $1,805 $1,794 
Research and development
19,062 17,221 17,263 
Sales and marketing
8,736 8,173 8,045 
General and administrative
11,726 11,792 11,548 
Total stock-based compensation expense$41,479 $38,991 $38,650 
Class of Treasury Stock
Year ended December 31,
(in thousands, except per share data)20232022
Shares repurchased9,931 5,967 
Average price per share$4.03 $6.64 
Value of shares repurchased$40,000 $39,618