Income taxes - Narrative (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) ownership	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Operating Loss Carryforwards [Line Items]
Effective income tax rate, percent	(1.51%)	(1.50%)	(4.23%)
Valuation allowance	$ 129,453	$ 97,010
Valuation allowance increase	$ 32,500
Number Of Ownership Changes | ownership	2
Research and development tax credits	$ 20,412	13,301
Net operating loss carryforward, amount limited by Section 382	3,200
Unrecognized tax benefits	5,310	3,608	$ 10,580	$ 146
Potential tax associated with foreign earnings being repatriated	300
Deferred tax liability, CARES Act	2,600
Payment of deferred taxes, CARES Act	1,100	1,500
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Net operating loss carryforward	132,700
Net operating loss carryforward subject to expiration	44,500
Net operating loss carryforward not subject to expiration	88,200
Research and development tax credits	15,500
Domestic Tax Authority | CorpU
Operating Loss Carryforwards [Line Items]
Net operating loss carryforward subject to expiration		20,700
Domestic Tax Authority | Tax Year 2010-2012
Operating Loss Carryforwards [Line Items]
Net operating loss carryforward subject to expiration	3,400
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Net operating loss carryforward		$ 31,700
Research and development tax credits	$ 12,300