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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