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Licensing arrangements (Details)
12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Jun. 30, 2012
USD ($)
Jun. 30, 2009
USD ($)
Institution
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Research and development expense $ 7,486,000 $ 8,823,000    
2009 license agreement        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Number of research institutions | Institution       2
License fee payable on certain development regulatory and commercial milestones       $ 700,000
License fee payable for each product on certain development regulatory and commercial milestones       $ 300,000
Expense on milestone payments 0 0    
2012 license agreement        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Expense on milestone payments 0 0    
2012 license agreement | Maximum        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Product development and regulatory approval milestone payments     $ 1,000,000.0  
2019 license agreement        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Research and development expense $ 175,000 $ 63,000