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

Summary of significant accounting policies - Capitalized internal-use software costs (Details)

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Summary of significant accounting policies - Capitalized internal-use software costs (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]      
Capitalized software development costs incurred $ 858,000 $ 2,919,000 $ 502,000
Share-based payment arrangement, amount capitalized 37,000    
Capitalized software costs amortized during period 1,287,000 749,000 864,000
Capitalized computer software, impairments $ 0 $ 0 $ 0
Computer Software, Intangible Asset      
Finite-Lived Intangible Assets [Line Items]      
Finite-lived intangible asset, useful life 3 years