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Employee benefit plans - Allocation of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total stock-based compensation expense	$ 9,339	$ 9,329	$ 29,426	$ 28,227
Share-based Payment Arrangement, Expense, Tax Benefit	2,100	2,100	$ 6,500	6,500
Unearned stock-based compensation, expected recognition period			1 year 11 months 26 days
Cost of Revenue [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total stock-based compensation expense	441	483	$ 1,371	1,420
Research and Development [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total stock-based compensation expense	4,395	4,380	12,958	13,131
Selling and Marketing Expense [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total stock-based compensation expense	1,819	1,950	6,171	5,968
General and Administrative [Member]
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Total stock-based compensation expense	$ 2,684	$ 2,516	$ 8,926	$ 7,708

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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-Publisher FASB
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-Topic 718
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Amount of tax benefit for recognition of expense of award under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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