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Employee benefit plans - Allocation of Stock-based Compensation Expense (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total stock-based compensation expense | $ 29,963,000 | $ 37,188,000 | $ 40,887,000
Share-based Payment Arrangement, Expense, Tax Benefit | 0 | 0 | 0
Cost of Revenue [Member] |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total stock-based compensation expense | 1,548,000 | 1,902,000 | 1,954,000
Research and Development [Member] |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total stock-based compensation expense | 13,415,000 | 17,167,000 | 19,636,000
Selling and Marketing Expense [Member] |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total stock-based compensation expense | 5,779,000 | 8,043,000 | 9,459,000
General and Administrative [Member] |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |
Total stock-based compensation expense | $ 9,221,000 | $ 10,076,000 | $ 9,838,000

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