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Restructuring charges - Restructuring Costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Restructuring and Related Costs
11. Restructuring charges
Restructuring charges for each period were as follows:
Year ended December 31,
(in thousands)
202320222021
Cost of revenue
$(90)$8,090 $70 
Research and development
687 244 600 
Sales and marketing
130 137 361 
General and administrative
11 77 195 
Total restructuring charges
$738 $8,548 $1,226 
    
Restructuring charges $ 738 $ 8,548 $ 1,226
Cost of Revenue [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges (90) 8,090 70
Research and Development [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 687 244 600
Selling and Marketing Expense [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 130 137 361
General and Administrative [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges 11 77 $ 195
fourth quarter 2022 restructuring      
Restructuring Cost and Reserve [Line Items]      
Restructuring charges (184)    
Restructuring Reserve 0 7,833  
Other Restructuring Costs (184)    
Cash paid (7,649)    
Restructuring charges 8,100    
fourth quarter 2022 restructuring | Other Restructuring [Member]      
Restructuring Cost and Reserve [Line Items]      
Restructuring Reserve 0 $ 7,833  
Cash paid $ (7,649)