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Significant accounting policies - Unsecured Convertible Senior Notes (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Aug. 14, 2020 | Dec. 31, 2019 | Nov. 30, 2018
--- | --- | --- | --- | --- | --- | --- | ---
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |  |  |
Stockholders' equity | $ 85,684 | $ 23,780 | $ (120,752) |  |  | $ (109,021) |
Cumulative effect adjustment | ASU 2020-06 |  |  |  |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |  |  |
Stockholders' equity |  |  | (75,474) |  |  |  |
Convertible Debt |  |  | $ 75,500 |  |  |  |
2023 Unsecured Convertible Senior Notes |  |  |  |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |  |  |
Interest rate (as a percent) |  |  |  |  |  |  | 6.25%
Convertible Debt |  |  |  |  | $ 90,200 |  |
2026 Unsecured Convertible Senior Notes |  |  |  |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |  |  |
Interest rate (as a percent) |  |  |  | 5.25% |  |  |

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