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Stock-based compensation - other information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Other information about options outstanding    
Remaining expense to be recognized $ 112.6  
Weighted average period over which remaining expense will be recognized (in years) 2 years 1 month 6 days  
Restricted stock expense $ 2.3 $ 2.3
Stock options    
Other information about options outstanding    
Contractual life (in years) 10 years  
Award vesting period (in years) 4 years  
RSUs | Minimum    
Other information about options outstanding    
Award vesting period (in years) 3 years  
RSUs | Maximum    
Other information about options outstanding    
Award vesting period (in years) 4 years