Basis of presentation and description of business - Segment and geographic information (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($) segment	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Disaggregation of Revenue [Line Items]
Number of operating segment | segment	1
Number of reportable segment | segment	1
Total revenue	$ 560,571	$ 478,776	$ 366,388
Long-lived assets	32,845	43,249
The Americas
Disaggregation of Revenue [Line Items]
Total revenue	377,890	330,704	261,516
Long-lived assets	21,489	28,087
Europe, the Middle East, India, and Africa
Disaggregation of Revenue [Line Items]
Total revenue	140,224	113,861	79,918
Long-lived assets	3,150	4,904
Asia Pacific
Disaggregation of Revenue [Line Items]
Total revenue	42,457	34,211	$ 24,954
Long-lived assets	$ 8,206	$ 10,258
U.S. | Property, Plant and Equipment | Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration risk percentage	65.00%	65.00%