Prepaid expenses and other current assets - Schedule of Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid insurance	$ 2,347	$ 3,205
Prepaid expenses	1,863	1,663
Prepaid taxes	1,823	1,827
Pre-contract costs	2,742	3,605
Total prepaid expenses and other current assets	$ 8,775	$ 10,300