Annual and transition report of foreign private issuers pursuant to Section 13 or 15(d)

Summary of significant accounting policies - Deferred Revenue, Remaining Performance Obligations and Cost of Revenue (Details)

v3.23.1
Summary of significant accounting policies - Deferred Revenue, Remaining Performance Obligations and Cost of Revenue (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Recognized revenue $ 76,676 $ 53,145 $ 40,942
Remaining performance obligation $ 171,029    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Percent of revenue to be recognized 80.00%    
Period of revenue recognition 1 year    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Period of revenue recognition