Income taxes - Schedule of Valuation Allowances (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred Tax Assets, Valuation Allowance [Roll Forward]
Beginning at beginning of period	$ 41,929	$ 43,467	$ 45,661
Additions to valuation allowance	7,228	6,108	3,719
Reductions to valuation allowance	(22,818)	(7,646)	(5,913)
Balance at the end of the period	$ 26,339	$ 41,929	$ 43,467