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2004 Plan outstanding and exercisable options by price range (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019
Weighted average remaining life (in yrs.) | 5 years 6 months | 5 years 6 months 29 days
Price Range $0.95 - $1.25 |  |
Range of exercise | $ 0.95 |
Range of exercise | $ 1.25 |
Number outstanding options | 352,081 |
Weighted average remaining life (in yrs.) | 3 years 2 months 30 days |
Weighted average exercise price (US$ per share) | $ 1.06 |
Number exercisable options | 325,873 |
Weighted average exercise price | $ 1.06 |
Price Range $1.50 - $1.82 |  |
Range of exercise | 1.50 |
Range of exercise | $ 1.82 |
Number outstanding options | 99,540 |
Weighted average remaining life (in yrs.) | 1 year |
Weighted average exercise price (US$ per share) | $ 1.74 |
Number exercisable options | 99,540 |
Weighted average exercise price | $ 1.74 |
Price Range $1.89 - $2.27 |  |
Range of exercise | 1.89 |
Range of exercise | $ 2.27 |
Number outstanding options | 456,891 |
Weighted average remaining life (in yrs.) | 5 years 2 months 1 day |
Weighted average exercise price (US$ per share) | $ 2.07 |
Number exercisable options | 368,771 |
Weighted average exercise price | $ 2.11 |
Price Range $2.32 - $2.49 |  |
Range of exercise | 2.32 |
Range of exercise | $ 2.49 |
Number outstanding options | 407,826 |
Weighted average remaining life (in yrs.) | 7 years 6 months 29 days |
Weighted average exercise price (US$ per share) | $ 2.34 |
Number exercisable options | 200,125 |
Weighted average exercise price | $ 2.35 |
Price Range $2.50 - $2.75 |  |
Range of exercise | 2.50 |
Range of exercise | $ 2.75 |
Number outstanding options | 241,188 |
Weighted average remaining life (in yrs.) | 5 years 3 months 29 days |
Weighted average exercise price (US$ per share) | $ 2.71 |
Number exercisable options | 241,188 |
Weighted average exercise price | $ 2.71 |
Price Range $2.82 - $2.93 |  |
Range of exercise | 2.82 |
Range of exercise | $ 2.93 |
Number outstanding options | 195,355 |
Weighted average remaining life (in yrs.) | 7 years 2 months 1 day |
Weighted average exercise price (US$ per share) | $ 2.93 |
Number exercisable options | 141,206 |
Weighted average exercise price | $ 2.93 |
Price Range $3.10 - $3.88 |  |
Range of exercise | 3.10 |
Range of exercise | $ 3.88 |
Number outstanding options | 73,400 |
Weighted average remaining life (in yrs.) | 6 years |
Weighted average exercise price (US$ per share) | $ 3.69 |
Number exercisable options | 71,600 |
Weighted average exercise price | $ 3.70 |
Price Range $4.22 - $4.49 |  |
Range of exercise | 4.22 |
Range of exercise | $ 4.49 |
Number outstanding options | 168,525 |
Weighted average remaining life (in yrs.) | 6 years 5 months 1 day |
Weighted average exercise price (US$ per share) | $ 4.25 |
Number exercisable options | 154,392 |
Weighted average exercise price | $ 4.24 |
Price Range $0.95 - $4.49 |  |
Range of exercise | 0.95 |
Range of exercise | $ 4.49 |
Number outstanding options | 1,994,806 |
Weighted average remaining life (in yrs.) | 5 years 6 months |
Weighted average exercise price (US$ per share) | $ 2.42 |
Number exercisable options | 1,602,695 |
Weighted average exercise price | $ 2.34 |

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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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