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Operating expense - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disclosure Of Attribution Of Expenses By Nature To Their Function [Line Items]      
Research tax credit $ 1,129 $ 1,292 $ 1,597
Research and Development and Innovation      
Disclosure Of Attribution Of Expenses By Nature To Their Function [Line Items]      
Research tax credit $ 1,100 $ 1,300 $ 1,600