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Stock-based compensation - Share-based compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Stock-based compensation
Share-based compensation expense	$ 2,766	$ 4,008	$ 11,779	$ 11,044
Cost of product revenue
Stock-based compensation
Share-based compensation expense	199	96	424	282
Cost of service and other revenue
Stock-based compensation
Share-based compensation expense	159	115	530	347
Research and development
Stock-based compensation
Share-based compensation expense	320	440	1,200	1,248
Selling, general, and administrative
Stock-based compensation
Share-based compensation expense	2,088	$ 3,357	9,625	$ 9,167
Restricted stock units and stock options
Stock-based compensation
Total unrecognized compensation cost related to unvested stock awards	$ 37,100		$ 37,100
Period of recognition of unrecognized compensation cost			3 years 1 month 6 days