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Stock-based compensation - 2010 Stock Option and Grant Plan (Details) - shares
1 Months Ended 9 Months Ended
Mar. 31, 2021
Sep. 30, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted   1,732,182  
2010 Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Additional shares authorized 382,889    
Number of shares available for grant     4,945,783
Granted   0