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Stock-based awards - Stock option valuation (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2021
Sep. 30, 2020
Assumptions to determine grant-date fair value of stock options granted      
Expected term (in years) 5 years 11 months 15 days 5 years 10 months 20 days 5 years 9 months 21 days
Expected volatility 70.04% 70.34% 77.70%
Weighted average risk-free interest rate 0.91% 0.82% 1.07%
Expected dividend yield 0.00% 0.00% 0.00%