Income taxes, Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets [Abstract]
Net losses	$ 74,916	$ 73,059
Fixed assets	4,286	5,241
R&D credits	5,745	6,166
Corporate interest restriction	0	731
Stock based compensation	9,795	6,329
Other deferred tax assets	511	875
Total deferred tax assets	95,253	92,401
Deferred tax liabilities [Abstract]
Other deferred tax liabilities	(1,154)	(844)
Total deferred tax liabilities	(1,154)	(844)
Valuation allowance	(83,126)	(86,436)	$ (87,867)
Net deferred tax assets	$ 10,973	$ 5,121