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Summary of significant accounting policies - Disaggregated Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation of Revenue [Line Items]
Revenue recognized	$ 6,899	$ 5,247	$ 18,024	$ 10,839
United states
Disaggregation of Revenue [Line Items]
Revenue recognized	4,313	2,067	10,086	4,401
Germany
Disaggregation of Revenue [Line Items]
Revenue recognized	298	312	1,263	1,547
Switzerland
Disaggregation of Revenue [Line Items]
Revenue recognized	899	2,765	2,989	3,574
All other countries
Disaggregation of Revenue [Line Items]
Revenue recognized	1,389	103	3,686	1,317
Product and service revenue - recurring
Disaggregation of Revenue [Line Items]
Revenue recognized	2,171	855	5,539	2,712
Product and service revenue - non-recurring
Disaggregation of Revenue [Line Items]
Revenue recognized	4,132	4,109	11,243	6,269
Non-commercial revenue - non-recurring
Disaggregation of Revenue [Line Items]
Revenue recognized	$ 596	$ 283	$ 1,242	$ 1,858

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Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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