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Government assistance - PPP Loan (Details) - USD ($) |  | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Apr. 20, 2020 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Debt Instrument [Line Items] |  |  |  |  |
Grants recognized as a reduction to operating expenses |  | $ 176,000 | $ 0 | $ 1,816,000 | $ 0
Interest expense |  | 304,000 | $ 330,000 | 897,000 | $ 968,000
Paycheck Protection Program, CARES Act [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Face amount of loan | $ 1,806,000 |  |  |  |
Stated interest rate (as percentage) | 1.00% |  |  |  |
Term of loan | 2 years |  |  |  |
Grants recognized as a reduction to operating expenses |  | 166,000 |  | 1,806,000 |
Interest expense |  | $ 0 |  | $ 0 |

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