Long-term debt - Narrative (Details) $ in Thousands	Sep. 20, 2022 USD ($)	Sep. 30, 2023 USD ($)	Dec. 31, 2022 USD ($)	Sep. 30, 2022 supplier note	Oct. 31, 2021 USD ($) note
Debt Instrument [Line Items]
Total debt, excluding unamortized debt issuance costs		$ 26,086	$ 25,786
Debt instrument, balloon payment due	$ 1,200
2022 term loan 2
Debt Instrument [Line Items]
Number of term loans | note				3	3
Number of term loans extinguished | supplier				1
Total debt, excluding unamortized debt issuance costs		$ 2,596	2,896
Interest Rate		4.00%			4.00%
Term Note 1
Debt Instrument [Line Items]
Total debt, excluding unamortized debt issuance costs					$ 1,400
Term Note 2
Debt Instrument [Line Items]
Total debt, excluding unamortized debt issuance costs					1,400
Term Note 3
Debt Instrument [Line Items]
Total debt, excluding unamortized debt issuance costs					$ 1,800
2022 term loan 3
Debt Instrument [Line Items]
Total debt, excluding unamortized debt issuance costs		$ 20,000	$ 20,000
Interest Rate		7.00%
Debt instrument, maximum borrowing capacity	50,000
Maximum borrowing capacity	30,000	$ 10,000
Debt instrument, additional maximum amount within nine months after closing	10,000
Debt instrument, additional maximum amount upon certain milestone achievements	10,000
Debt instrument, additional maximum at discretion of lender	10,000
Debt instrument, face amount	$ 20,000	$ 20,000
Debt instrument, interest rate, maximum stated percentage for each tranche borrowed	1.00%
2022 term loan 3 | Prime Rate
Debt Instrument [Line Items]
Debt instrument, basis spread on variable rate	0.50%