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Income taxes, Statutory to effective tax rate reconciliation (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Effective Tax Rate Reconciliation [Abstract]
Federal statutory tax rate	21.00%	21.00%
PPP loan forgiveness	0.00%	7.40%
R&D credit	4.30%	7.10%
Stock award excess tax benefit	0.00%	0.30%
State income taxes, net of federal income taxes	1.10%	0.10%
Business meals and entertainment	0.00%	(0.20%)
Miscellaneous permanent items	0.00%	(0.30%)
Uncertain tax positions	(0.50%)	(0.40%)
Stock option cancellations	(1.90%)	(0.60%)
Valuation allowance and tax accruals	1.00%	(1.20%)
Other	(0.10%)	0.40%
Effective tax rate	24.90%	33.60%

X

- Definition

Percentage of the difference between reported income tax expense (benefit) and the expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to forgiveness of a long under the Paycheck Protection Program (PPP) administered by the Small Business Administration established under Division A, Title I of the Coronavirus Aid, Relief, and Economic Security ("CARES") Act.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to miscellaneous permanent items.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to meals and entertainment expense.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to research tax credit.

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