Revenue recognition - Schedule of Revenues by Geographic Region (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Net revenues	$ 509,338	$ 537,840	$ 535,031
United States
Disaggregation of Revenue [Line Items]
Net revenues	349,743	406,894	353,110
Germany
Disaggregation of Revenue [Line Items]
Net revenues	60,210	46,120	93,939
Japan
Disaggregation of Revenue [Line Items]
Net revenues	31,668	32,781	34,640
Other international markets
Disaggregation of Revenue [Line Items]
Net revenues	44,493	30,713	30,577
International markets - Total
Disaggregation of Revenue [Line Items]
Net revenues	136,371	109,614	159,156
Greater China
Disaggregation of Revenue [Line Items]
Net revenues	$ 23,224	$ 21,332	$ 22,765