Loss per share - Schedule of basic and diluted loss per share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Numerator:
Net loss	$ (35,922)	$ (34,780)	$ (27,412)	$ (31,620)	$ (70,702)	$ (59,032)
Denominator:
Weighted-average number of shares used in computed net loss per share − basic	49,063,631		48,823,698		49,048,062	48,779,508
Weighted-average number of shares used in computed net loss per share − diluted	49,063,631		48,823,698		49,048,062	48,779,508
Net loss per share − basic (in dollars per share)	$ (0.73)		$ (0.56)		$ (1.44)	$ (1.21)
Net loss per share − diluted (in dollars per share)	$ (0.73)		$ (0.56)		$ (1.44)	$ (1.21)