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Stock incentive plans - Restricted stock units (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jun. 30, 2020
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Shares          
Non-cash restricted stock unit award expense recognized   $ 1,996 $ 2,262 $ 6,627 $ 7,395
Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period 10 months        
Shares          
Unvested restricted stock outstanding   0   0  
Issued (in shares) 205,200        
Non-cash restricted stock unit award expense recognized   $ 0 $ 0 $ 0 $ 800