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Related party transactions (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2019
Related party transactions      
Deferred revenue     $ 1.7
Joint development and license agreement      
Related party transactions      
Deferred revenue $ 0.1    
Tufts | License Agreement      
Related party transactions      
Royalty expense 0.2 $ 0.2  
Harvard University      
Related party transactions      
Related party revenue $ 0.1 $ 0.1