Net loss per share - Antidilutive (Details) - shares	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net loss per share
Total shares excluded from calculation (in shares)	14,018,753	12,292,413	10,645,735
Stock Options
Net loss per share
Total shares excluded from calculation (in shares)	11,502,417	10,772,582	9,663,677
Restricted Stock and Restricted Stock Units [Member]
Net loss per share
Total shares excluded from calculation (in shares)	2,516,336	1,519,831	982,058

Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 260
-SubTopic 10
-Section 50
-Paragraph 1
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=124432515&loc=d3e3550-109257

Name:	us-gaap_AntidilutiveSecuritiesExcludedFromComputationOfEarningsPerShareAmount
Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration