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Stock-based compensation - Stock Option Narratives (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 6 Months Ended
Jan. 01, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Jul. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award                
Fair value of vested options     $ 5.0   $ 5.8      
Exercised         $ 1.8      
Share-based compensation arrangement by share-based payment award, options, outstanding, number (in shares)     10,840,480   10,840,480   7,757,401  
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average exercise price (usd per share)     $ 5.14   $ 5.14   $ 3.72  
2020 Plan                
Share-based Compensation Arrangement by Share-based Payment Award                
Additional shares authorized for issuance (shares)   11,980,029            
2021 Plan                
Share-based Compensation Arrangement by Share-based Payment Award                
Additional shares authorized for issuance (shares) 4,632,401              
Shares available for grant (shares)     9,601,512   9,601,512     8,133,750
2021 ESPP                
Share-based Compensation Arrangement by Share-based Payment Award                
Shares authorized, shares               903,750
Stock options | 2020 Plan                
Share-based Compensation Arrangement by Share-based Payment Award                
Weighted average grant date fair value of shares granted (usd per share)     $ 3.16 $ 7.08 $ 4.21 $ 3.87    
Share based compensation expense not yet recognized, options     $ 34.2   $ 34.2      
Share based compensation expense not yet recognized, recognition period (years)         3 years 1 month 6 days      
Stock options | 2020 Plan | Tranche One                
Share-based Compensation Arrangement by Share-based Payment Award                
Vesting percentage (percent)         25.00%      
Vesting period (years)         1 year      
Stock options | 2020 Plan | Tranche Two                
Share-based Compensation Arrangement by Share-based Payment Award                
Vesting period (years)         3 years      
Certain options | 2020 Plan | Tranche Two | Minimum                
Share-based Compensation Arrangement by Share-based Payment Award                
Vesting period (years)         2 years      
Certain options | 2020 Plan | Tranche Two | Maximum                
Share-based Compensation Arrangement by Share-based Payment Award                
Vesting period (years)         4 years      
SARs | 2020 Plan                
Share-based Compensation Arrangement by Share-based Payment Award                
Vesting period (years)         4 years      
SARs | 2020 And 2021 Plan                
Share-based Compensation Arrangement by Share-based Payment Award                
Share based compensation expense not yet recognized, options     $ 0.7   $ 0.7      
Share based compensation expense not yet recognized, recognition period (years)         3 years 1 month 6 days      
Share-based compensation arrangement by share-based payment award, options, outstanding, number (in shares)     147,181   147,181      
Share-based compensation arrangement by share-based payment award, options, outstanding, weighted average exercise price (usd per share)     $ 5.72   $ 5.72      
Deferred compensation liability, classified, noncurrent     $ 0.2   $ 0.2