v3.20.4

Stock incentive plans - Plans (Details) - shares	12 Months Ended	60 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
2011 Plan
Stock incentive plans
Common stock shares reserved for issuance	13,739,820
2001 Plan
Stock incentive plans
Number of options outstanding	0
Number of awards made	0
Stock options
Stock incentive plans
Number of options outstanding	109,000	235,000
Number of awards made	0	0
Stock options | 2011 Plan
Stock incentive plans
Number of options outstanding	109,000	228,000
Stock options | 2001 Plan
Stock incentive plans
Number of options outstanding		7,000
RSUs
Stock incentive plans
RSUs outstanding	951,000

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