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Debt and capital lease obligations - Debt components (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]    
Total minimum principal payments $ 32,500 $ 34,976
Unamortized debt discount (413) (515)
Accretion of final fee 384 59
Total debt, net 32,471 34,520
Amount included as short-term   (1,032)
Long-term debt, net of current portion and debt discount 32,471 33,488
Midcap Trust Term Loan    
Debt Instrument [Line Items]    
Total minimum principal payments $ 32,500 32,500
PPP loan    
Debt Instrument [Line Items]    
Total minimum principal payments   $ 2,476