v3.24.0.1
Stockholders’ equity - Narrative (Details)
 12 Months Ended
Dec. 31, 2023
USD ($)
vote
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
shares
Dec. 31, 2013
$ / shares
Nov. 30, 2022
USD ($)
Jun. 09, 2022
$ / shares
shares
Jun. 08, 2022
shares
Feb. 28, 2022
USD ($)
May 31, 2020
USD ($)
Class of Stock [Line Items]                  
Preferred stock, shares authorized (in shares) 25,000,000 25,000,000              
Preferred stock, shares issued (in shares) 0 0              
Warrant exercise price per share (in dollars per share) | $ / shares       $ 0.05          
Contractual life of warrants       10 years          
Number of shares of common stock into which warrants may be converted (in shares) 0                
Common stock, par value (in dollars per share) | $ / shares $ 0.0001 $ 0.0001       $ 0.0001      
Common stock, shares authorized (in shares) 350,000,000 350,000,000       350,000,000 175,000,000    
Number of shares reserved for future issuance (in shares) 14,736,953 11,944,664              
Common Stock                  
Class of Stock [Line Items]                  
Exercise of common stock warrant (in shares)   16,654              
Number of votes per common share | vote 1                
Warrants and share-based payment awards                  
Class of Stock [Line Items]                  
Number of shares reserved for future issuance (in shares) 14,736,953 11,944,664              
At Market Equity Offering Program (2020 ATM)                  
Class of Stock [Line Items]                  
Amount of shares authorized to be offered and sold | $                 $ 100,000,000
Proceeds from issuance of common stock | $   $ 54,800,000 $ 43,100,000            
At Market Equity Offering Program (2020 ATM) | Common Stock                  
Class of Stock [Line Items]                  
Number of shares sold (in shares)   11,740,210 3,961,074            
At Market Equity Offering Program (February 2022 ATM)                  
Class of Stock [Line Items]                  
Amount of shares authorized to be offered and sold | $               $ 100,000,000  
Proceeds from issuance of common stock | $ $ 1,600,000 $ 96,400,000              
At Market Equity Offering Program (February 2022 ATM) | Common Stock                  
Class of Stock [Line Items]                  
Number of shares sold (in shares) 256,386 18,757,665              
At Market Equity Offering Program (November 2022 ATM)                  
Class of Stock [Line Items]                  
Amount of shares authorized to be offered and sold | $         $ 150,000,000        
Proceeds from issuance of common stock | $ $ 92,200,000                
At Market Equity Offering Program (November 2022 ATM) | Common Stock                  
Class of Stock [Line Items]                  
Number of shares sold (in shares) 14,208,145                
Stock issuance program, remaining unsold and available amount | $ $ 55,900,000