Stockholders' equity - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
2021 Stock incentive Plan
Options Outstanding
Outstanding, beginning balance (in shares)	10,283,771
Granted (in shares)	0	0
Exercised (in shares)	(5,477,153)
Canceled (in shares)	(235,597)
Outstanding, ending balance (in shares)	4,571,021	10,283,771
Vested & expected to vest, awards outstanding (in shares)	4,571,021
Exercisable, awards outstanding (in shares)	4,405,278
Weighted Average Exercise Price
Outstanding, beginning balance (in USD per share)	$ 4.18
Granted (in USD per share)	0
Exercised (in USD per share)	3.29
Canceled (in USD per share)	7.58
Outstanding, ending balance (in USD per share)	5.08	$ 4.18
Vested & expected to vest, weighted average exercise price (in USD per shares)	5.08
Exercisable, weighted average exercise price (in USD per share)	$ 4.96
Outstanding, weighted average remaining contractual term	3 years 2 months 23 days	6 years 4 months 17 days
Outstanding, aggregate intrinsic value	$ 44,309	$ 66,234
Vested & expected to vest, weighted average remaining contractual term	3 years 2 months 23 days
Vested & expected to vest, aggregate intrinsic value	$ 44,309
Exercisable, weighted average remaining contractual term	3 years 2 months 23 days
Exercisable, aggregate intrinsic value	$ 43,157
Amended and Restated 2010 Equity Incentive Plan | Performance-Based Awards
Options Outstanding
Outstanding, beginning balance (in shares)	50,000
Granted (in shares)	0
Exercised (in shares)	0
Canceled (in shares)	0
Outstanding, ending balance (in shares)	50,000	50,000
Vested & expected to vest, awards outstanding (in shares)	50,000
Exercisable, awards outstanding (in shares)	26,041
Weighted Average Exercise Price
Outstanding, beginning balance (in USD per share)	$ 3.06
Granted (in USD per share)	0
Exercised (in USD per share)	0
Canceled (in USD per share)	0
Outstanding, ending balance (in USD per share)	3.06	$ 3.06
Vested & expected to vest, weighted average exercise price (in USD per shares)	3.06
Exercisable, weighted average exercise price (in USD per share)	$ 3.06
Outstanding, weighted average remaining contractual term	4 years 6 months 29 days	5 years 6 months 29 days
Outstanding, aggregate intrinsic value	$ 584	$ 375
Vested & expected to vest, weighted average remaining contractual term	4 years 6 months 29 days
Vested & expected to vest, aggregate intrinsic value	$ 584
Exercisable, weighted average remaining contractual term	4 years 6 months 29 days
Exercisable, aggregate intrinsic value	$ 304