Stock-based compensation, Stock Options Plan by Exercise Price Range (Details) - $ / shares	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Abstract]
Outstanding number of shares (in shares)	5,292,888
Weighted average remaining contractual life	7 years 8 months 8 days
Weighted average exercise price (in dollars per share)	$ 1.87
Exercisable number of shares (in shares)	3,442,501
Exercisable weighted average exercise price (in dollars per share)	$ 1.87
Weighted average remaining contractual life of exercisable stock options	7 years 3 months 18 days	8 years 11 days
$1.11 - $2.00 [Member]
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Abstract]
Option range of exercise prices, lower range limit (in dollars per share)	$ 1.11
Option range of exercise prices, upper range limit (in dollars per share)	$ 2.00
Outstanding number of shares (in shares)	4,185,877
Weighted average remaining contractual life	7 years 7 months 2 days
Weighted average exercise price (in dollars per share)	$ 1.47
Exercisable number of shares (in shares)	2,918,323
Exercisable weighted average exercise price (in dollars per share)	$ 1.43
$2.01 - $5.00 [Member]
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Abstract]
Option range of exercise prices, lower range limit (in dollars per share)	2.01
Option range of exercise prices, upper range limit (in dollars per share)	$ 5.00
Outstanding number of shares (in shares)	941,000
Weighted average remaining contractual life	8 years 8 months 1 day
Weighted average exercise price (in dollars per share)	$ 2.52
Exercisable number of shares (in shares)	358,267
Exercisable weighted average exercise price (in dollars per share)	$ 2.61
$5.01 - $181.00 [Member]
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Abstract]
Option range of exercise prices, lower range limit (in dollars per share)	5.01
Option range of exercise prices, upper range limit (in dollars per share)	$ 181.00
Outstanding number of shares (in shares)	166,011
Weighted average remaining contractual life	4 years 6 months 14 days
Weighted average exercise price (in dollars per share)	$ 8.07
Exercisable number of shares (in shares)	165,911
Exercisable weighted average exercise price (in dollars per share)	$ 8.03

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The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

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The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

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The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

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Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding.

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Weighted average remaining contractual term of exercisable stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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