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Summary of Significant Accounting Policies - Accounting for joint operation (Details)
$ in Millions
 12 Months Ended
Jan. 04, 2021
Dec. 31, 2020
USD ($)
agreement
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Disclosure of joint operations [line items]        
Number of collaborative agreement | agreement   1    
Stock split on bonus issue of shares 2      
Stock split from ordinary shares 17      
Southern Denmark University collaboration agreement        
Disclosure of joint operations [line items]        
Compensation cost | $   $ 0.3 $ 0.3 $ 0.0