Loss per share - Schedule of basic and diluted loss per share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Numerator:
Net loss	$ (34,780)	$ (31,620)
Denominator:
Weighted-average number of shares used in computed net loss per share − basic	49,032,319	48,734,827
Weighted-average number of shares used in computed net loss per share − diluted	49,032,319	48,734,827
Net loss per share − basic (in dollars per share)	$ (0.71)	$ (0.65)
Net loss per share − diluted (in dollars per share)	$ (0.71)	$ (0.65)