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Collaboration and license agreements - Schedule of supplemental financial information related to collaboration and license agreements (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]        
Revenue recognized that was included in the contract liability at the beginning of the period $ 2,065 $ 2,664 $ 5,003 $ 5,895