Summary of significant accounting policies - Cash, Cash Equivalents, and Marketable Securities - (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Amortized Cost Basis [Abstract]
Cash and Cash Equivalents, at Carrying Value	$ 98,959	$ 117,433	$ 104,440
Total money market funds and marketable securities	111,704	115,422
Fair Value Disclosure [Abstract]
Total money market funds and marketable securities	111,613	115,411
Unrealized Gain and Loss [Abstract]
Total money market funds and marketable securities	(91)	(11)
Other than temporary losses	0
Money market funds
Amortized Cost Basis [Abstract]
Cash and Cash Equivalents, at Carrying Value	91,724	100,305
Fair Value Disclosure [Abstract]
Cash and cash equivalents	91,724	100,305
U.S. Treasury notes
Amortized Cost Basis [Abstract]
Marketable securities, amortized cost	19,980	15,117
Fair Value Disclosure [Abstract]
Marketable securities, fair value	19,889	15,106
Unrealized Gain and Loss [Abstract]
Marketable securities, unrealized losses	$ (91)	$ (11)
Maximum
Unrealized Gain and Loss [Abstract]
Debt securities, contractual maturity period	1 year	1 year