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Stock incentive plans - Plans (Details) - shares
9 Months Ended
Sep. 30, 2020
Dec. 31, 2019
2001 Plan    
Stock incentive plans    
Number of awards made 0  
Stock options    
Stock incentive plans    
Number of options outstanding 151,000 235,000
Stock options | 2011 Plan    
Stock incentive plans    
Number of options outstanding 151,000  
RSUs | 2011 Plan    
Stock incentive plans    
RSUs outstanding 1,290,000