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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Stockholders' equity    
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock authorized (in shares) 200,000,000 200,000,000
Common stock issued (in shares) 4,186,438 3,845,361
Common stock outstanding (in shares) 4,186,438 3,845,361