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Commitments and contingencies - Non-cancelable operating leases (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Commitments and contingencies |  |  |
Annual Rent | $ 1,700,000 | $ 2,600,000 | $ 3,100,000
Baton Rouge Louisiana |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | May 01, 2024 |  |
Annual Rent | $ 30,000 |  |
Champaign, Illinois |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Dec. 01, 2024 |  |
Annual Rent | $ 609,000 |  |
Champaign, Illinois (2nd location) |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Sep. 01, 2026 |  |
Annual Rent | $ 349,000 |  |
Charlotte, North Carolina |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | May 01, 2025 |  |
Annual Rent | $ 38,000 |  |
Escondido,California |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Jun. 01, 2027 |  |
Annual Rent | $ 238,000 |  |
Long Beach California |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Feb. 01, 2024 |  |
Annual Rent | $ 28,800 |  |
Ontario, California |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Dec. 01, 2024 |  |
Annual Rent | $ 174,000 |  |
Riverside, California |  |  |
Commitments and contingencies |  |  |
Lease expiration period description | Month to Month |  |
Annual Rent | $ 27,000 |  |
Rantoul, Illinois |  |  |
Commitments and contingencies |  |  |
Lease expiration period description | Month to Month |  |
Annual Rent | $ 36,000 |  |
Smyrna, Georgia |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Jul. 01, 2030 |  |
Annual Rent | $ 492,000 |  |
Stony Point, New York |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Jun. 01, 2023 |  |
Annual Rent | $ 118,000 |  |
Woodcliff Lake, New Jersey |  |  |
Commitments and contingencies |  |  |
Lease Expiration Date | Aug. 01, 2027 |  |
Annual Rent | $ 236,000 |  |

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