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Term loan (Details) - Line of Credit
$ in Millions
Mar. 24, 2023
USD ($)
Oct. 14, 2022
USD ($)
loanAdvance
Jun. 30, 2023
Oxford Term Loan      
Line of Credit Facility [Line Items]      
Maximum borrowing capacity   $ 150.0  
Number of loan advances | loanAdvance   4  
Effective interest rate     11.00%
Oxford Term Loan | Base Rate      
Line of Credit Facility [Line Items]      
Debt instrument interest rate increase   2.00%  
Oxford Term A Loan      
Line of Credit Facility [Line Items]      
Maximum borrowing capacity   $ 10.0  
Oxford Term A Loan | Debt Instrument Interest Rate, Period One | Base Rate      
Line of Credit Facility [Line Items]      
Basis spread on variable rate   5.50%  
Oxford Term A Loan | Debt Instrument Interest Rate, Period One | Minimum | Base Rate      
Line of Credit Facility [Line Items]      
Basis spread on variable rate   2.38%  
Oxford Term B, C, D, E Loan      
Line of Credit Facility [Line Items]      
Maximum borrowing capacity   $ 140.0  
Oxford Term B Loan      
Line of Credit Facility [Line Items]      
Proceeds from Lines of Credit $ 10.0