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Stockholders' Equity - Stock compensation plans (Details) - shares
1 Months Ended 6 Months Ended 12 Months Ended
Jul. 31, 2016
Jun. 30, 2016
Dec. 31, 2020
Apr. 30, 2019
May 31, 2018
Stock Compensation Plans          
Shares reserved for future issuance related to stock plans     6,460,660    
2010 Stock Plan          
Stock Compensation Plans          
Shares reserved for future issuance related to stock plans       44,453,475 36,753,475
Stock Options          
Stock Compensation Plans          
Expiration period 10 years 7 years      
Stock Options | 2010 Stock Plan | Non-employee Director          
Stock Compensation Plans          
Expiration period     10 years