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Stock-based compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands |  | 12 Months Ended
--- | --- | ---
Jan. 01, 2024 | Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Granted (in shares) |  | 0 | 0 |
Aggregate intrinsic value of stock options exercised |  | $ 300 | $ 100 | $ 1,300
Weighted-average grant-date fair value of stock options granted (in usd per share) |  |  |  | $ 4.43
Fair value of stock options vested |  | 3,000 | 3,400 | $ 3,500
Stock-based compensation expense |  | 14,776 | 12,363 | 11,214
Stock-based compensation, capitalized |  | 100 | 200 | 100
Unrecognized compensation expense |  | 23,400 |  |
Stock options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense |  | $ 600 | $ 700 | $ 700
Unrecognized compensation expense, weighted-average period for recognition |  | 2 years 2 months 12 days |  |
Employee stock purchase plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum shares that may be issued (in shares) |  | 1,971,655 |  |
Number of shares available for issuance, annual increase, percentage |  | 1.00% |  |
Increase in common stock available for future issuance (in shares) | 399,151 |  |  |
Annual increase in number of shares that may be issued, term |  | 10 years |  |
Number of shares available for issuance, annual increase (in shares) |  | 400,000 |  |
Maximum percentage of eligible compensation |  | 15.00% |  |
Purchase price percentage |  | 85.00% |  |
RSUs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average grant date fair value of restricted stock units granted (in usd per share) |  | $ 5.77 | $ 3.96 | $ 7.51
Vested restricted stock units converted to common shares, net of shares withheld for employee taxes |  | $ 12,000 | $ 9,700 | $ 6,700
RSUs | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
RSUs | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 4 years |  |
RSUs, Initial Awards | Board of Directors |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
RSUs, Annual Awards | Board of Directors |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 1 year |  |
2011 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Expiration period |  | 10 years |  |
Vesting period |  | 48 months |  |
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 period |  | 1 year |  |
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 |  |
2021 Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum shares that may be issued (in shares) |  | 4,333,333 |  |
Maximum shares that may be issued, annual increase, period |  | 10 years |  |
Number of shares available for issuance, annual increase, percentage |  | 5.00% |  |
Increase in common stock available for future issuance (in shares) | 1,995,756 |  |  |
Shares available for grant (in shares) |  | 2,238,376 |  |
2021 Plan | RSUs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 4 years |  |
Vesting percentage |  | 25.00% |  |

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