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Income taxes - Deferred Tax Assets (Details) - USD ($) $ in Thousands	3 Months Ended		12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount	$ 3,200	$ 1,500	$ 9,600	$ 200
Deferred tax assets:
Net operating loss carryforwards	177,987	163,832	177,987	163,832
Tax credit carryforwards	79,694	75,624	79,694	75,624
Stock-based compensation	5,192	5,710	5,192	5,710
Allowance for returns	2,492	4,150	2,492	4,150
Intangible assets	5,453	5,384	5,453	5,384
Accruals and reserves	11,687	19,493	11,687	19,493
Total deferred tax assets	296,609	290,795	296,609	290,795
Valuation allowance	(287,276)	(277,693)	(287,276)	(277,693)
Total deferred tax assets, net of valuation allowance	$ 9,333	$ 13,102	$ 9,333	$ 13,102

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Amount, before allocation of a valuation allowances, of deferred tax assets attributable to deductible tax credit carryforwards including, but not limited to, research, foreign, general business, alternative minimum tax, and other deductible tax credit carryforwards.

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