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Summary of significant accounting policies - Manufacturing Revenue (Details) - USD ($)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Revenue recognition      
Revenue $ 210,118,000 $ 220,382,000  
Remaining performance obligations 0   $ 800,000
Manufacturing revenue      
Revenue recognition      
Revenue 1,360,000 $ 1,988,000  
Contract with customer, asset 800,000   200,000
Remaining performance obligations $ 0   $ 800,000