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Stock incentive plans - Activity related to stock options (Details) - Stock options - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Shares      
Outstanding, at the beginning of the period 10,713    
Granted 2,286 3,100  
Forfeited and canceled (383)    
Outstanding, at the end of the period 12,616   10,713
Vested and expected to vest 12,616    
Exercisable 6,282    
Weighted-average exercise price      
Outstanding, at the beginning of the period $ 5.36    
Granted 2.98    
Forfeited and canceled 3.97    
Outstanding, at the end of the period 4.97   $ 5.36
Vested and expected to vest 4.97    
Exercisable at the end of the period $ 6.64    
Weighted-average remaining contractual term      
Weighted-average remaining contractual term 7 years 9 months 25 days   8 years 25 days
Vested and expected to vest 7 years 9 months 25 days    
Exercisable 6 years 7 months 9 days    
Aggregate intrinsic value      
Outstanding, at the beginning of the period $ 718    
Outstanding, at the end of the period 19   $ 718
Vested and expected to vest 19    
Exercisable $ 2    
Weighted-average grant date fair value per share $ 2.28 $ 2.73  
Unrecognized stock-based compensation related to non-vested stock options $ 14,600    
Expenses recognized over a weighted-average period (in years) 2 years 8 months 12 days    
Term of award 10 years    
Vesting period 4 years