Summary of significant accounting policies - Deferred Contract Costs (Details) - USD ($)	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Accounting Policies [Abstract]
Total amortization of contract costs	$ 4,800,000	$ 3,800,000
Impairment losses	$ 0	$ 0

Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 340
-SubTopic 40
-Section 50
-Paragraph 3
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=126905575&loc=SL49131252-203054

Name:	us-gaap_CapitalizedContractCostAmortization
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration