Summary of significant accounting policies and basis of presentation - Cash, Cash Equivalents, and Marketable Securities - (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Amortized Cost Basis [Abstract]
Cash and cash equivalents	$ 68,802	$ 98,959	$ 117,433
Total money market funds and marketable securities	227,583	111,704
Fair Value Disclosure [Abstract]
Total money market funds and marketable securities	227,663	111,613
Unrealized Gain and Loss [Abstract]
Marketable securities, unrealized gains	93
Marketable securities, unrealized losses	(13)	(91)
Debt securities, unrealized loss position	44,200	19,900
Other than temporary losses	0
Money market funds
Amortized Cost Basis [Abstract]
Cash and cash equivalents	65,589	91,724
Fair Value Disclosure [Abstract]
Cash and cash equivalents	65,589	91,724
U.S. Treasury notes
Amortized Cost Basis [Abstract]
Marketable securities, amortized cost	102,966	19,980
Fair Value Disclosure [Abstract]
Marketable securities, fair value	103,044	19,889
Unrealized Gain and Loss [Abstract]
Marketable securities, unrealized gains	81
Marketable securities, unrealized losses	(3)	$ (91)
U. S. Government agency securities
Amortized Cost Basis [Abstract]
Marketable securities, amortized cost	31,068
Fair Value Disclosure [Abstract]
Marketable securities, fair value	31,075
Unrealized Gain and Loss [Abstract]
Marketable securities, unrealized gains	10
Marketable securities, unrealized losses	(3)
Corporate bonds
Amortized Cost Basis [Abstract]
Marketable securities, amortized cost	23,975
Fair Value Disclosure [Abstract]
Marketable securities, fair value	23,970
Unrealized Gain and Loss [Abstract]
Marketable securities, unrealized gains	2
Marketable securities, unrealized losses	(7)
Commercial paper
Amortized Cost Basis [Abstract]
Marketable securities, amortized cost	3,985
Fair Value Disclosure [Abstract]
Marketable securities, fair value	$ 3,985
Maximum
Unrealized Gain and Loss [Abstract]
Debt securities, contractual maturity period	1 year	1 year