Stockholders' equity - Schedule of Stock Option Activity (Details) - 2021 Stock incentive Plan - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2024	Dec. 31, 2023
Options Outstanding
Outstanding, beginning balance (in shares)	4,571,021
Granted (in shares)	0
Exercised (in shares)	(780,998)
Canceled (in shares)	(43,693)
Outstanding, ending balance (in shares)	3,746,330	4,571,021
Vested & expected to vest, awards outstanding (in shares)	3,746,330
Exercisable, awards outstanding (in shares)	3,718,691
Weighted Average Exercise Price
Outstanding, beginning balance (in dollars per share)	$ 5.08
Granted (in dollars per share)	0
Exercised (in dollars per share)	4.03
Canceled (in dollars per share)	7.67
Outstanding, ending balance (in dollars per share)	5.27	$ 5.08
Vested & expected to vest, weighted average exercise price (in dollars per share)	5.27
Exercisable, weighted average exercise price (in dollars per share)	$ 5.21
Outstanding, weighted average remaining contractual term	3 years 5 months 15 days	3 years 2 months 23 days
Outstanding, aggregate intrinsic value	$ 21,653	$ 44,309
Vested & expected to vest, weighted average remaining contractual term	3 years 5 months 15 days
Vested & expected to vest, aggregate intrinsic value	$ 21,653
Exercisable, weighted average remaining contractual term	3 years 5 months 8 days
Exercisable, aggregate intrinsic value	$ 21,642