Summary of Significant Accounting Policies - Government grants (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Summary of Significant Accounting Policies
Proceeds from government grants			$ 0.0
Reduction of research and development	$ 0.7	$ 0.6

Carrying amount as of the balance sheet date of amounts due under the terms of governmental, corporate, or foundation grants.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02.8)
-URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682

Name:	us-gaap_GrantsReceivable
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant