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Stock-based compensation - Activity Under Stock Option Plan (Details) - $ / shares
 9 Months Ended
Sep. 30, 2022
Number of Shares  
Outstanding at beginning of period (in shares) 8,342,429
Granted (in shares) 2,765,034
Exercised (in shares) (54,299)
Cancelled (in shares) (528,384)
Outstanding at end of period (in shares) 10,524,780
Vested and expected to vest (in shares) 10,524,780
Options exercisable, at end of period (in shares) 5,339,351
Weighted- Average Exercise Price  
Outstanding at beginning of period (in dollars per share) $ 11.25
Granted (in dollars per share) 5.41
Exercised (in dollars per share) 3.81
Cancelled (in dollars per share) 13.33
Outstanding at end of period (in dollars per share) 9.65
Vested and expected to vest (in dollars per share) 9.65
Options exercisable, at end of period (in dollars per share) $ 8.96