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Income taxes - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2019
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]        
Federal net operating loss carryforwards   $ 500    
State net operating loss carryforwards   100    
Foreign net operating loss carryforwards   600    
Unrecognized tax benefits that would impact effective tax rate $ 400 500 $ 500 $ 400
Unrecognized tax benefits expected to reverse in next twelve months   100    
Accrued gross interest and penalties   100 100  
Recognized net interest and penalties expense $ 3 $ 29 $ 23 $ (40)
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards period   20 years    
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards period   5 years