Stock-based compensation - Summary of stock option activity - other information (Details) - 2020 Stock Option and Incentive Plan - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average fair value of options granted (in dollars per share)	$ 2.84	$ 13.44
Intrinsic value of options exercised (in thousands)	$ 22	$ 1,796