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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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Including the current and noncurrent portions, carrying amount of debt identified as being convertible into another form of financial instrument (typically the entity's common stock) as of the balance sheet date, which originally required full repayment more than twelve months after issuance or greater than the normal operating cycle of the company.

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