Income taxes - Components of Income (Loss) Before Income Tax (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
United States	$ (9,203)	$ (12,230)	$ (19,022)
International	1,402	1,326	1,062
Loss before income taxes	$ (7,801)	$ (10,904)	$ (17,960)

Amount of income (loss) from continuing operations, including income (loss) from equity method investments, before deduction of income tax expense (benefit), and income (loss) attributable to noncontrolling interest.

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