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Stock Plans - Fair value of stock options (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Stock Plans    
Weighted-average risk-free interest rate 0.54% 0.00%
Expected dividend payments $ 0 $ 0
Expected holding period (years) 5 years 6 months 0 years
Weighted-average volatility factor 113.90% 0.00%
Estimated forfeiture rates for options granted 29.60% 0.00%