Stock-based compensation - Allocated Share-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Share-based Payment Arrangement, Expensed
Stock-based compensation	$ 3,592	$ 3,783	$ 11,618	$ 7,376
Research and development
Share-based Payment Arrangement, Expensed
Stock-based compensation	1,240	952	4,360	2,879
Selling, general and administrative
Share-based Payment Arrangement, Expensed
Stock-based compensation	$ 2,352	$ 2,831	$ 7,258	$ 4,497