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Income taxes - Income Taxes Rate Reconciliation (Details) | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Reconciliation of effect of applying the federal statutory rate to the net loss and the effective income tax rate |  |  |
Statutory federal income tax rate | 21.00% | 21.00% | 21.00%
Earnings in jurisdictions taxed at rates different from the statutory U.S. federal tax rate | 0.20% | 0.40% | 1.00%
Permanent differences | 1.70% | 3.70% | 0.40%
Changes in valuation allowance | (22.50%) | (25.10%) | (16.70%)
Rate change due to Swedish tax reform |  |  | (5.70%)
Other | 0.40% |  |

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- Definition Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 6.I.Fact.4) -URI http://asc.fasb.org/extlink&oid=116825942&loc=d3e330036-122817 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI http://asc.fasb.org/extlink&oid=84230637&loc=d3e32687-109319 + Details
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