Stockholders' equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Class Of Stock [Line Items]
Common Stock, Shares, Issued	46,336,166	35,799,233
Common Stock, Shares, Outstanding	46,336,166	35,799,233
Total number of common shares reserved for issuance	7,329,913	6,247,701
Warrants [Member]
Class Of Stock [Line Items]
Warrants for the purchase of common stock	0	151,088
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	3,246,957	2,061,948
Common Stock, Shares, Outstanding	3,246,957	2,061,948
2020 Plan [Member]
Class Of Stock [Line Items]
Awards	3,012,554	3,211,854
Employees Stock Purchase Plan Shares
Class Of Stock [Line Items]
Common Stock, Shares, Issued	147,564	11,182
Awards	1,070,402	822,811
Total number of common shares reserved for issuance	1,070,402