Stockholders' equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Class Of Stock [Line Items]
Common Stock, Shares, Issued	48,077,599	46,336,166
Common Stock, Shares, Outstanding	48,077,599	46,336,166
Total number of common shares reserved for issuance	8,776,826	7,329,913
Common Stock Options and Restricted Stock Units [Member]
Class Of Stock [Line Items]
Common Stock, Shares, Issued	6,372,611	3,246,957
Common Stock, Shares, Outstanding	6,372,611	3,246,957
2020 Plan [Member]
Class Of Stock [Line Items]
Awards	991,413	3,012,554
Employees Stock Purchase Plan Shares
Class Of Stock [Line Items]
Common Stock, Shares, Issued	165,550	147,564
Awards	1,412,802	1,070,402
Total number of common shares reserved for issuance		1,412,802