Net loss per share - Schedule of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Net Income (Loss) Available to Common Stockholders, Basic [Abstract]
Net loss	$ (32,277)	$ (31,302)	$ (92,676)	$ (120,070)
Weighted Average Number of Shares Outstanding Reconciliation [Abstract]
Weighted‑average shares used to compute net loss per share, basic (in shares)	125,537,246	121,014,325	124,455,109	120,188,587
Weighted‑average shares used to compute net loss per share, diluted (in shares)	125,537,246	121,014,325	124,455,109	120,188,587
Basic net loss per share (in dollars per share)	$ (0.26)	$ (0.26)	$ (0.74)	$ (1.00)
Diluted net loss per share (in dollars per share)	$ (0.26)	$ (0.26)	$ (0.74)	$ (1.00)