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Stock-based compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  |  | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | ---
Jan. 01, 2023 | Jan. 01, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Stock options granted (in shares) |  |  | 0 |  | 0 |  |
Aggregate intrinsic value of stock options exercised |  |  | $ 100 | $ 600 | $ 100 | $ 900 |
Weighted-average grant-date fair value of stock options granted (in usd per share) |  |  |  | $ 4.43 |  | $ 4.43 |
Fair value of stock options vested |  |  | 1,200 | $ 1,300 | 2,000 | $ 2,600 |
Total stock-based compensation expense |  |  | $ 3,252 | $ 3,163 | $ 6,358 | $ 4,508 |
Weighted-average grant date fair value of restricted stock units granted (in usd per share) |  |  | $ 3.65 | $ 6.97 | $ 3.95 | $ 7.64 |
Grant date fair value of restricted stock units vested |  |  | $ 3,100 | $ 2,200 | $ 5,200 | $ 2,200 |
Share-based compensation capitalized |  |  | 100 | $ 100 | 100 | $ 100 |
Unrecognized compensation expense |  |  | 31,200 |  | $ 31,200 |  |
Options to purchase common stock |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Fair value assumptions, expected term |  |  |  | 6 years |  | 6 years |
Fair value assumptions, expected volatility rate |  |  |  | 64.60% |  | 64.60% |
Fair value assumptions, risk free interest rate |  |  |  | 2.30% |  | 2.30% |
Unrecognized compensation expense, weighted-average period for recognition |  |  |  |  | 2 years 8 months 12 days |  |
Stock options with performance condition |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  | 4 years
Stock options granted (in shares) |  |  |  |  |  |  | 615,997
Total stock-based compensation expense |  |  | $ 200 | $ 200 | $ 300 | $ 400 |
Stock options with performance condition | Vesting tranche one |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting percentage |  | 21.00% |  |  |  |  |
Stock options with performance condition | Vesting tranche two |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  |  |  |  | 38 months
Shares available for future grant under the ESPP |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Maximum shares that may be issued (in shares) |  |  | 1,572,504 |  | 1,572,504 |  |
Maximum number of shares that may be issued, annual increase percentage |  |  |  |  | 1.00% |  |
Increase in common stock available for future issuance (in shares) | 392,602 |  |  |  |  |  |
Annual increase in number of shares that may be issued, term |  |  |  |  | 10 years |  |
Maximum number of shares that may be issued, annual increase (in shares) |  |  |  |  | 400,000 |  |
Maximum percentage of eligible compensation |  |  | 15.00% |  | 15.00% |  |
Purchase price percentage |  |  |  |  | 85.00% |  |
2011 Plan | Stock options - new employees |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Expiration period |  |  |  |  | 10 years |  |
Vesting period |  |  |  |  | 4 years |  |
2011 Plan | Stock options - new employees | Vesting tranche one |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting percentage |  |  |  |  | 25.00% |  |
2011 Plan | Stock options - new employees | Vesting tranche two |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Vesting period |  |  |  |  | 36 months |  |
2011 Plan | Stock options - current employees, outside advisors, and non-employee consultants |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Expiration period |  |  |  |  | 10 years |  |
Vesting period |  |  |  |  | 48 months |  |
2021 Plan |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Maximum shares that may be issued (in shares) |  |  | 4,333,333 |  | 4,333,333 |  |
Maximum shares that may be issued, annual increase, period |  |  |  |  | 10 years |  |
Maximum number of shares that may be issued, annual increase percentage |  |  |  |  | 5.00% |  |
Increase in common stock available for future issuance (in shares) | 1,963,010 |  |  |  |  |  |
Shares available for future grants (in shares) |  |  | 2,646,947 |  | 2,646,947 |  |

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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Line items represent financial concepts included in a table. 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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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