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Stock-based compensation - Employee Stock Purchase Plan (Details)
$ in Thousands
3 Months Ended
Jun. 21, 2019
item
Mar. 31, 2024
USD ($)
shares
Mar. 31, 2023
USD ($)
Assumptions used to estimate fair value of each stock-based award on the grant date      
Proceeds from the exercise of stock options and employee stock purchase program   $ 85 $ 29
Employee Stock purchase plan      
Stock-based compensation      
Percent of common stock at market price to be purchased 85.00%    
Number of vesting periods | item 2    
Vesting period 6 months    
Assumptions used to estimate fair value of each stock-based award on the grant date      
Risk-free interest rate (as a percent)   5.24% 4.77%
Volatility (as a percent)   60.00% 106.00%
Dividend yield (as a percent)   0.00% 0.00%
Expected term (years)   6 months 6 months
Issuance of common stock under ESPP | shares   7,475  
Proceeds from the exercise of stock options and employee stock purchase program   $ 100  
Employee Stock purchase plan | Maximum      
Assumptions used to estimate fair value of each stock-based award on the grant date      
Stock-based compensation expense   $ 100 $ 100