Income taxes - Narrative (Details) - USD ($)	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, Domestic		$ 394,100,000
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions		4,948,000	$ 2,543,000	$ 3,081,000
Income (Loss) from Continuing Operations before Income Taxes, Domestic		(79,514,000)	26,215,000	83,419,000
Income tax (benefit) expense		(14,550,000)	5,606,000	(281,071,000)
Loss before income taxes		$ (67,733,000)	$ 34,453,000	$ 90,100,000
Effective tax rate	16.30%	21.50%	16.30%	(312.00%)
Current Foreign Tax Expense (Benefit)		$ 3,176,000	$ 2,076,000	$ (7,669,000)
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions		4,948,000	2,543,000	3,081,000
Unrecognized Tax Benefits, Increase Resulting from Prior Period Tax Positions		0	0	3,900,000
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions		(2,526,000)	(459,000)	(13,122,000)
Unrecognized Tax Benefits		25,836,000	23,414,000	21,330,000	$ 27,471,000
Accruals and reserves		20,540,000	22,001,000
Total deferred tax assets		301,305,000	284,112,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate		10,900,000	9,800,000	7,300,000
Income (Loss) from Continuing Operations before Income Taxes, Foreign		11,781,000	8,238,000	$ 6,681,000
Net operating loss carryforwards		109,059,000	118,399,000
Tax credit carryforwards		96,610,000	91,147,000
Stock-based compensation		5,966,000	6,034,000
Allowance for returns		1,823,000	1,818,000
Intangible assets		2,727,000	3,753,000
Deferred Tax Assets, Operating Loss Carryforwards, Domestic		394,100,000
Significant Change in Unrecognized Tax Benefits is Reasonably Possible, Amount of Unrecorded Benefit		2,900,000
Deferred Tax Assets, Property, Plant and Equipment		988,000	1,661,000
Deferred Tax Liabilities, Other		4,321,000	5,072,000
Deferred Tax Liabilities, Gross, Total		4,321,000	5,072,000
Capitalized research and development costs		55,266,000	$ 29,122,000
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount		54,400,000
Tax Credit Carryforward, Amount		54,400,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Tax Credit Carryforward, Amount		53,400,000
Tax Credit Carryforward, Amount		53,400,000
california [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		243,100,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		243,100,000
States Other than CA [Domain]
Operating Loss Carryforwards [Line Items]
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		169,800,000
Deferred Tax Assets, Operating Loss Carryforwards, State and Local		$ 169,800,000