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Equity incentive plans - Narrative (Details)
12 Months Ended
Sep. 28, 2021
shares
Aug. 24, 2021
$ / shares
shares
Dec. 31, 2021
USD ($)
award
period
$ / shares
shares
Dec. 31, 2020
USD ($)
award
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
installment
shares
Oct. 29, 2021
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Weighted average grant date fair value, options (in USD per share) | $ / shares     $ 16.01 $ 5.48 $ 1.66    
Aggregate intrinsic value of options exercised in period     $ 59,700,000 $ 34,800,000 $ 11,000,000    
Unrecognized compensation costs, options     $ 95,800,000        
Total shares of common stock reserved (in shares) | shares     34,559,618 108,254,073      
Stock-based compensation     $ 34,680,000 $ 31,618,000 8,963,000    
Stock-based compensation capitalized as a software     2,500,000 $ 700,000 $ 300,000    
Stock-based compensation capitalized as a cloud computing costs     $ 100,000        
Amended and Restated 2010 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Additional shares authorized for issuance (in shares) | shares 850,000            
Number of shares authorized for issuance (in shares) | shares 44,340,706            
2021 Stock incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares reserved for future issuance (in shares) | shares     13,800,000        
Annual percentage increase, term     0.05        
Granted (in shares) | shares     5,529,439        
Tender Offer to Sell Common Stock to an Investor              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares sold in transaction (in shares) | shares     236,086   300,000    
Sale of stock, term, less than (in USD per share) | $ / shares     $ 23.75   $ 10.00    
Stock-based compensation     $ 1,600,000   $ 2,100,000    
Tender Offer to Sell Vested Stock Options and Common Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares sold in transaction (in shares) | shares       891,265      
Sale of stock, term, less than (in USD per share) | $ / shares       $ 11.22      
Stock-based compensation       $ 3,500,000      
Other Equity Transaction              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock-based compensation     $ 4,000,000 $ 17,900,000 $ 1,700,000    
Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Contractual term (in years)     10 years        
Award vesting period (in years)     4 years        
Unrecognized compensation costs, period for recognition (in years)     2 years 6 months        
Stock Appreciation Rights              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Contractual term (in years)     10 years        
Award vesting period (in years)     4 years        
Unrecognized compensation costs, period for recognition (in years)     2 years 3 months 18 days        
Weighted average grant date fair value (in USD per share) | $ / shares     $ 22.47 $ 6.04 $ 5.00    
Unrecognized compensation costs, excluding options     $ 700,000        
Restricted Stock Units (RSUs)              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unrecognized compensation costs, period for recognition (in years)     3 years 10 months 24 days        
Unrecognized compensation costs, excluding options     $ 68,600,000        
Restricted stock issued for business combination, grant date fair value (in dollars per share) | $ / shares     $ 27.64 $ 0      
Restricted Stock Units (RSUs) | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period (in years)     3 years        
Restricted Stock Units (RSUs) | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period (in years)     4 years        
Performance-Based Awards              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Contractual term (in years)     10 years        
Unrecognized compensation costs, period for recognition (in years)     9 months 18 days        
Number of Performance-Based Awards outstanding | award     2 2      
Granted (in shares) | shares       350,000   50,000  
Number of equal monthly installments | installment           48  
Unrecognized compensation costs     $ 600,000        
Performance-Based Awards | Amended and Restated 2010 Equity Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Granted (in shares) | shares     0        
Performance-Based Awards | Share-based Payment Arrangement, Tranche One              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting rights, percentage       50.00%      
Required annual recurring revenues, vesting term       $ 230,000,000      
Performance-Based Awards | Share-based Payment Arrangement, Tranche Two              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting rights, percentage       50.00%      
Required annual recurring revenues, vesting term       $ 330,000,000      
Employee Stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unrecognized compensation costs, period for recognition (in years)     1 year 10 months 24 days        
Unrecognized compensation costs, excluding options     $ 6,600,000        
Total shares of common stock reserved (in shares) | shares             2,800,000
Percent of outstanding shares     1.00%        
ESPP discount percentage from market price, beginning of purchase period     15.00%        
Consecutive offering period     24 months        
Number of purchase periods | period     4        
Purchase period     6 months        
ESPP purchase price of common stock, percent of market price     85.00%        
Restricted Stock | CorpU              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Unrecognized compensation costs, period for recognition (in years)   3 years 2 years 7 months 6 days        
Unrecognized compensation costs, excluding options     $ 1,800,000        
Stock-based compensation     $ 200,000        
Restricted stock issued for business combination (in shares) | shares   61,300          
Restricted stock issued for business combination, grant date fair value (in dollars per share) | $ / shares   $ 34.14