Revenue recognition - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Liability, revenue recognized	$ 18,028	$ 17,762	$ 17,765
License | Zai License and Collaboration Agreement
Disaggregation of Revenue [Line Items]
Revenue recognition, milestone payments				$ 10,000