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Condensed consolidated financial statement details - Product Warranty (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Organization, Consolidation and Presentation of Financial Statements [Abstract]      
Beginning balances $ 11,398,000 $ 10,971,000 $ 10,373,000
Charged to cost of revenue 12,690,000 16,933,000 24,725,000
Settlements of warranty claims (15,565,000) (16,506,000) (24,127,000)
Ending balances 8,523,000 11,398,000 $ 10,971,000
Warranty liability 7,997,000 9,899,000  
Product Warranty Accrual, Noncurrent $ 500,000 $ 1,500,000