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Stock-based compensation - RSU Activity and Related Information (Details) - RSUs
9 Months Ended
Sep. 30, 2023
$ / shares
shares
Number of Outstanding  
Unvested (in shares) | shares 8,143,304
Granted (in shares) | shares 4,423,933
Forfeited (in shares) | shares (1,446,883)
Vested (in shares) | shares (167,605)
Unvested (in shares) | shares 10,952,749
Expected to vest (in shares) | shares 10,436,290
Weighted average Grant Date Fair Value ($)  
Unvested (in usd per share) | $ / shares $ 5.69
Granted (in usd per share) | $ / shares 0.89
Forfeited (in usd per share) | $ / shares 4.63
Vested (in usd per share) | $ / shares 4.02
Unvested (in usd per share) | $ / shares 3.93
Expected to vest (in usd per share) | $ / shares $ 3.97