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Stockholders' equity - Additional information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended
Apr. 30, 2020
Mar. 31, 2019
Aug. 31, 2018
Jun. 30, 2020
Sep. 30, 2020
Sep. 30, 2019
Class of Stock [Line Items]            
Proceeds from issuance of common stock, net         $ 9,076,000 $ 5,734,000
Common stock | Underwritten Public Offering            
Class of Stock [Line Items]            
Proceeds from issuance of common stock, net $ 184,000,000.0          
Number of shares sold in underwritten public offering 20,400,000          
Shares issued price per share (in dollars per share) $ 9.00          
Net proceeds from issuance of common stock $ 173,000,000.0          
2018 Sales Agreement | Cowen and Company, LLC            
Class of Stock [Line Items]            
Proceeds from issuance of common stock, net       $ 46,000,000.0    
Percentage of commission payable on gross proceeds     3.00%      
Number of shares sold in underwritten public offering       2,600,000    
Shares issued price per share (in dollars per share)       $ 17.60    
Net proceeds from issuance of common stock       $ 44,500,000    
2018 Sales Agreement | Maximum | Cowen and Company, LLC            
Class of Stock [Line Items]            
Proceeds from issuance of common stock, net   $ 175,000,000.0 $ 75,000,000.0