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Revenue from contracts with customers - Change in Deferred Revenue (Details) - USD ($)
$ in Thousands
6 Months Ended 12 Months Ended
Jun. 30, 2022
Dec. 31, 2021
Contract With Customer, Liability [Roll Forward]    
Balance at beginning of period $ 2,719 $ 4,713
Deferral of revenue 2,906 4,092
Recognition of deferred revenue (3,010) (6,086)
Balance at end of period $ 2,615 $ 2,719