Income taxes - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Unrecognized tax benefits	$ 1,162	$ 1,151	$ 780	$ 654
Income tax, interest or penalties accrued	$ 0	$ 0
United States
Operating Loss Carryforwards [Line Items]
Research and development, amortization period	5 years
Non-US
Operating Loss Carryforwards [Line Items]
Research and development, amortization period	15 years
US and foreign tax authority
Operating Loss Carryforwards [Line Items]
Research and development expense subject to capitalzation	$ 12,900