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Commitments and contingencies (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Nov. 30, 2020
Aug. 13, 2020
Other Commitments [Line Items]        
Lease cost $ 0.4 $ 0.4    
Preferred stock warrants        
Other Commitments [Line Items]        
Warrants, number of shares issuable (in shares)     3,247,637  
Warrants vested, percentage       40.00%