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Income taxes - Income Taxes Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Reconciliation of effect of applying the federal statutory rate to the net loss and the effective income tax rate      
Statutory federal income tax rate 21.00% 21.00% 21.00%
Earnings in jurisdictions taxed at rates different from the statutory U.S. federal tax rate     (0.10%)
Permanent differences   (0.60%)  
Section 162(m) limitation 10.30% (2.50%)  
In-process research and development   (13.50%)  
Changes in valuation allowance 31.10% 3.70% 18.20%
Other (0.20%) (0.70%) (2.70%)
Effective income tax rate 0.00% 0.00% 0.00%