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Income taxes - Reconciliation to Federal Statutory Rate (Details) - USD ($)	3 Months Ended		12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Amount [Abstract]
Tax at federal statutory rate			$ (13,011,000)	$ (4,005,000)	$ (22,612,000)
Change in valuation allowance			16,767,000	4,717,000	42,772,000
Impact of foreign operations			5,010,000	(3,949,000)	3,285,000
Stock-based compensation			696,000	1,731,000	10,974,000
State taxes, net of federal benefits			(682,000)	1,872,000	(2,997,000)
Tax credits			(3,538,000)	(5,123,000)	(5,996,000)
Income tax (benefit) expense	$ 100,000	$ (3,900,000)	4,826,000	(4,428,000)	1,359,000
Impact of IRS audit			0	0	(9,687,000)
Other			(539,000)	24,000	528,000
Permanent tax adjustments			123,000	305,000	3,786,000
Restructuring adjustments	$ 3,500,000		$ 0	$ 0	$ (18,694,000)
Percent [Abstract]
Tax at federal statutory rate			21.00%	21.00%	21.00%
Change in valuation allowance			(27.10%)	(24.70%)	(39.70%)
Impact of foreign operations			(8.10%)	20.70%	(3.10%)
Stock-based compensation			(1.10%)	(9.10%)	(10.20%)
State taxes, net of federal benefits			1.10%	(9.80%)	2.80%
Tax credits			(5.70%)	(26.80%)	(5.60%)
Income tax provision at effective rate	0.30%	(4.30%)	(7.80%)	23.20%	(1.30%)
Impact of IRS audit			0.00%	0.00%	9.00%
Other			0.90%	(0.10%)	(0.60%)
Permanent Tax adjustment			(0.20%)	(1.60%)	(3.50%)
Restructuring adjustments			0.00%	0.00%	17.40%

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