Accrued expenses and other current liabilities - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Investments, Debt and Equity Securities [Abstract]
Accrued compensation	$ 3,309	$ 5,080
Accrued expenses	3,704	3,128
Deferred revenue, current	660	548
Accrued taxes	895	975
Other	0	51
Total accrued expenses and other current liabilities	$ 8,568	$ 9,782	$ 7,438