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Summary of significant accounting policies - Government grants (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Summary of significant accounting policies      
Reduction of research and development related to government grant arrangements $ 1.0 $ 1.5 $ 3.0
Government grant funding remaining for future cost reimbursement $ 0.1