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Revenue recognition (Details)
$ in Millions
3 Months Ended
Mar. 31, 2024
USD ($)
partner
Mar. 31, 2023
USD ($)
partner
Dec. 31, 2023
USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative      
Contract liabilities $ 3.2   $ 4.1
Revenue recognized from customer contract liability $ 0.9 $ 0.1  
Technology development revenue | Revenue from Contract with Customer Benchmark | Customer Concentration Risk      
Collaborative Arrangement and Arrangement Other than Collaborative      
Number of partners (partner) | partner 2 1  
Concentration risk (as a percent) 99.00% 93.00%