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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