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Licensed rights and other intangible assets - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Patents [Member]        
Finite-Lived Intangible Assets [Line Items]        
Amortization of intangible assets $ 0.1 $ 0.1 $ 0.2 $ 0.4