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Financial instruments - Forward exchange contracts (Details) € in Millions | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2021 EUR (€) | Dec. 31, 2020 EUR (€)
Disclosure of financial assets [line items] |  |  |  |
Realized losses (gains) on foreign exchange hedges reclassified to revenue | $ (1,064,000) | $ 1,804,000 |  |
Forward exchange contract |  |  |  |
Disclosure of financial assets [line items] |  |  |  |
Hedge ineffectiveness | 0 |  |  |
Forward exchange contract | Cash flow hedges |  |  |  |
Disclosure of financial assets [line items] |  |  |  |
Notional amount | € |  |  | € 25.8 | € 12.2
Forward exchange contract | Cash flow hedges | other current assets |  |  |  |
Disclosure of financial assets [line items] |  |  |  |
Assets, fair value | $ 700,000 |  |  |
Forward exchange contract | Cash flow hedges | other current liabilities |  |  |  |
Disclosure of financial assets [line items] |  |  |  |
Liabilities, fair value |  | $ 600,000 |  |

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