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Government assistance - PPP Loan (Details) - USD ($)
3 Months Ended 6 Months Ended
Apr. 20, 2020
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Debt Instrument [Line Items]        
Grants recognized as a reduction to operating expenses   $ 1,640,000   $ 1,640,000
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   $ 1,640,000   $ 1,640,000
Interest expense     $ 0