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Stock-based compensation - Narrative (Details) - USD ($)
shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Mar. 05, 2020
Non-Statutory Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Dividend yield 0.00% 0.00% 0.00%  
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Period for recognition 10 months 24 days      
Unrecognized compensation expense, excluding options $ 6.5      
Performance stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Period for recognition 2 months 12 days      
Unrecognized compensation expense, excluding options $ 1.6      
2018 Stock Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Accelerated vesting period 12 months      
Expiration term 10 years      
2020 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expiration term 10 years      
Number of shares authorized (in shares)       16.3
Remaining shares available for issuance (in shares) 7.2      
Unrecognized compensation expense, option $ 8.8      
2020 Equity Incentive Plan | Non-Statutory Stock Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Period for recognition 2 years 7 months 6 days      
2020 Equity Incentive Plan | Non-Statutory Stock Options | Subsequent three-month anniversary        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 6.25%      
2020 Equity Incentive Plan | Non-Statutory Stock Options | One year after the grant date        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Vesting percentage 25.00%      
2020 Equity Incentive Plan | Performance stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Maximum payout, percentage 300.00%      
Vesting percentage, revenue growth   50.00%    
Vesting percentage, contribution margin   50.00%