Stock-based compensation - Stock Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock compensation expense	$ 31,670	$ 25,334	$ 13,956
Research and development costs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock compensation expense	5,631	3,176	1,906
Sales and marketing costs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock compensation expense	5,620	3,649	1,788
General and administrative costs
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock compensation expense	14,937	14,066	8,061
Cost of revenue
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock compensation expense	$ 5,482	$ 4,443	$ 2,201