Income taxes - Additional Information (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) jurisdiction	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Operating Loss Carryforwards [Line Items]
Valuation allowance, increase (decrease), amount	$ 135,807,000	$ 139,436,000	$ 94,232,000
Net operating loss carryforwards, federal	962,000,000
Net operating loss carryforwards, state	$ 798,000,000
Deferred tax assets, operating loss carryforwards expiration period	5 years
Percentage of taxable income limitation	80.00%
Deferred tax assets, operating loss carryforwards expiration year	2036
Unrecognized tax benefits	$ 100,000	$ 2,975,000	$ 968,000	$ 229,000
Interest and penalties related to uncertain tax positions	$ 0
Number of foreign jurisdictions | jurisdiction	3
Income tax examination, liability (refund)	$ 0
Federal
Operating Loss Carryforwards [Line Items]
Deferred tax assets, tax credit carryforwards, research	$ 300,000
Deferred tax assets, tax credit carryforwards, research expiration year	2036
Year under examination	2017
State
Operating Loss Carryforwards [Line Items]
Deferred tax assets, tax credit carryforwards, research	$ 400,000
Year under examination	2017