Income taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Net operating loss carryforwards	$ 43,990	$ 42,721
Credits	4,828	3,955
Stock based compensation	3,653	2,826
Accruals and reserves	1,748	1,248
Fixed assets	2,771	991
Operating lease liability	3,631	4,360
Capitalized research and development expenditures	15,875	0
Gross deferred tax assets	76,496	56,101
Valuation allowance	(69,608)	(47,420)
Net deferred tax assets	6,888	8,681
Deferred tax liabilities:
Intangible property	(4,077)	(5,287)
Operating lease, right of use assets	(2,811)	(3,394)
Gross deferred tax liabilities	(6,888)	(8,681)
Net deferred tax assets	$ 0	$ 0