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Net loss per share - Anti-Diluted (Details) - shares
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive shares excluded from the calculation of diluted earnings per share, total 4,032,052 3,207,143
Options available for future grant    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive shares excluded from the calculation of diluted earnings per share, total 4,032,052 3,158,642
Unvested restricted common stock    
Antidilutive Securities Excluded from Computation of Earnings Per Share    
Antidilutive shares excluded from the calculation of diluted earnings per share, total   48,501