Supplemental information - Schedule of Long-lived Assets by Location (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	$ 45,362	$ 35,616
United States
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	30,012	23,263
Israel
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	7,180	5,297
Switzerland
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	5,084	4,085
Japan
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	1,063	799
Germany
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	762	1,020
Others
Revenues from External Customers and Long-Lived Assets [Line Items]
Total long-lived assets	$ 1,261	$ 1,152