Income Taxes - Operating losses and credit carryforwards (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
U.S. Federal loss carryforwards
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	$ 55,616	$ 52,544
Tax credit carryforward, amount	8,257	7,144
U.S. state loss carryforwards
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	102,078	85,635
Foreign loss carryforwards
Operating Loss Carryforwards [Line Items]
Operating loss carryforwards	101,067	90,826
Tax credit carryforward, amount	$ 54,017	$ 46,851