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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%