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Supplemental equity information - Narrative (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Stockholders Equity Note    
Share-based compensation cost $ 3.7 $ 3.4
Unrecognized compensation cost related to non-vested share-based compensation $ 30.0  
Weighted average period (in years) 2 years 1 month 28 days  
2027 Notes    
Stockholders Equity Note    
Antidilutive securities excluded from computation of diluted income per share (in shares) 97,057 97,057
Restricted Stock Awards    
Stockholders Equity Note    
Granted (in shares) 4,700  
Granted (in dollars per share) $ 1.83  
Restricted Stock Awards | Tranche One    
Stockholders Equity Note    
Vesting, percentage 33.30%  
Restricted Stock Awards | Tranche Two    
Stockholders Equity Note    
Vesting, percentage 33.30%  
Restricted Stock Awards | Tranche Three    
Stockholders Equity Note    
Vesting, percentage 33.30%  
2027 Notes | Convertible debt    
Stockholders Equity Note    
Aggregate shares receivable upon conversion (shares) 287,200  
Shares excluded from the income loss per share (shares) 287,200