Stock-based compensation - Summary of stock option activity (Details) - 2020 Stock Option and Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Options
Options outstanding, beginning balance (in shares)	5,983,425
Options granted (in shares)	2,296,800
Options exercised (in shares)	(181,354)
Options forfeited/expired (in shares)	(1,105,819)
Options outstanding, ending balance (in shares)	6,993,052	5,983,425
Options exercisable (in shares)	2,750,625
Options vested and expected to vest (in shares)	6,993,052
Weighted-Average Exercise Price
Options outstanding, beginning balance (in dollars per share)	$ 22.33
Options granted (in dollars per share)	18.93
Options exercised (in dollars per share)	4.67
Options forfeited/expired (in dollars per share)	23.98
Options outstanding, ending balance (in dollars per share)	21.57	$ 22.33
Options exercisable (in dollars per share)	21.69
Options vested and expected to vest (in dollars per share)	$ 21.57
Options, Additional Disclosures
Weighted average remaining contractual term, outstanding	7 years 9 months 10 days	8 years 7 months 20 days
Weighted average remaining contractual term, exercisable	6 years 10 months 9 days
Weighted average remaining contractual term, vested and expected to vest	7 years 9 months 10 days
Aggregate intrinsic value, outstanding	$ 1,031	$ 75,538
Aggregate intrinsic value, exercisable	570
Aggregate intrinsic value, vested and expected to vest	$ 1,031