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Stockholders' equity (Details) - shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Stockholders' Equity Note [Abstract]    
Shares of common stock authorized 400,000,000 400,000,000
Shares of common stock issued and outstanding 171,910,599 170,748,395
Shares of preferred stock authorized 100,000,000  
Shares of preferred stock issued and outstanding 0  
Number of "excess stock" authorized (in shares) 200,000,000  
Number of excess stock authorized issued and outstanding (in shares) 0