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Stock-based compensation - Share-based compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Stock-based compensation
Share-based compensation expense	$ 5,186	$ 3,650	$ 9,013	$ 7,036
Former Chief Executive Officer
Stock-based compensation
Share-based compensation expense	700		700
Cost of product revenue
Stock-based compensation
Share-based compensation expense	137	96	225	186
Cost of service and other revenue
Stock-based compensation
Share-based compensation expense	205	122	371	232
Research and development
Stock-based compensation
Share-based compensation expense	482	409	880	808
General and administrative
Stock-based compensation
Share-based compensation expense	4,362	$ 3,023	7,537	$ 5,810
Restricted stock units and stock options
Stock-based compensation
Total unrecognized compensation cost related to unvested stock awards	$ 46,400		$ 46,400
Period of recognition of unrecognized compensation cost			2 years 10 months 24 days