Fair value measurement - Financial Assets and Liabilities on Recurring Basis (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	$ 16,836
Fair Value, Recurring
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Assets	41,870	$ 56,008
Contingent consideration - business combinations		4,456
Liabilities		4,456
Fair Value, Recurring | U.S. government securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	5,170	15,051
Fair Value, Recurring | Corporate debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	9,674	26,047
Fair Value, Recurring | Other debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	1,992	3,494
Fair Value, Recurring | Money market accounts
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash equivalents	25,034	11,416
Fair Value, Recurring | Level 1
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Assets	30,204	26,467
Contingent consideration - business combinations		0
Liabilities		0
Fair Value, Recurring | Level 1 | U.S. government securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	5,170	15,051
Fair Value, Recurring | Level 1 | Corporate debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 1 | Other debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 1 | Money market accounts
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash equivalents	25,034	11,416
Fair Value, Recurring | Level 2
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Assets	11,666	29,541
Contingent consideration - business combinations		0
Liabilities		0
Fair Value, Recurring | Level 2 | U.S. government securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 2 | Corporate debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	9,674	26,047
Fair Value, Recurring | Level 2 | Other debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	1,992	3,494
Fair Value, Recurring | Level 2 | Money market accounts
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash equivalents	0	0
Fair Value, Recurring | Level 3
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Assets	0	0
Contingent consideration - business combinations		4,456
Liabilities		4,456
Fair Value, Recurring | Level 3 | U.S. government securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 3 | Corporate debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 3 | Other debt securities
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Available-for-sale securities	0	0
Fair Value, Recurring | Level 3 | Money market accounts
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]
Cash equivalents	$ 0	$ 0