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Net loss per share - Antidilutive (Details) - shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Net loss per share      
Total shares excluded from calculation (in shares) 12,466,669 14,018,753 12,292,413
Employee Stock Option      
Net loss per share      
Total shares excluded from calculation (in shares) 9,600,399 11,502,417 10,772,582
Restricted stock awards and units      
Net loss per share      
Total shares excluded from calculation (in shares) 2,866,270 2,516,336 1,519,831