Stockholders' equity - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Stock-based compensation	$ 13,544	$ 14,563
Research and Development Expense
Class Of Stock [Line Items]
Stock-based compensation	5,462	5,419
General and Administrative Expense
Class Of Stock [Line Items]
Stock-based compensation	$ 8,082	$ 9,144