Net loss per share - Schedule of computation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Numerator:
Net loss	$ (110,086)	$ (141,301)	$ (75,189)
Denominator:
Weighted-average shares used to compute net loss per share, basic (in shares)	124,935,620	120,720,972	118,276,462
Weighted-average shares used to compute net loss per share, diluted (in shares)	124,935,620	120,720,972	118,276,462
Net loss per share, basic (in dollars per share)	$ (0.88)	$ (1.17)	$ (0.64)
Net loss per share, diluted (in dollars per share)	$ (0.88)	$ (1.17)	$ (0.64)