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Income taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred tax assets related to: |  |  |  |
Net operating loss carryforwards | $ 35,505 | $ 29,102 |  |
Stock-based compensation | 3,008 | 3,207 |  |
Accruals and reserves | 3,590 | 3,724 |  |
Inventory | 1,408 | 425 |  |
Fixed assets | 585 | 0 |  |
Lease liabilities | 3,950 | 3,653 |  |
Tax credit carryforward | 2,226 | 1,423 |  |
Capitalized research and development | 4,818 | 2,405 |  |
Other | 875 | 445 |  |
Total deferred tax assets | 55,965 | 44,384 |  |
Deferred tax liabilities related to: |  |  |  |
Intangibles | (3,696) | (6,150) |  |
Right-of-use assets | (2,500) | (3,458) |  |
Fair value change in investments | (440) | (447) |  |
Fixed assets | 0 | (1,177) |  |
Total deferred tax liabilities | (6,636) | (11,232) |  |
Net deferred tax (liabilities) assets before valuation allowance | 49,329 | 33,152 |  |
Less: valuation allowance | (49,517) | (33,402) | $ (2,993) | $ (8,498)
Net deferred tax liabilities | $ (188) | $ (250) |  |

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