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Income Taxes - Reconciliation of provision (benefit) for income taxes (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Taxes      
Benefit for income taxes at statutory rate 19.00% 19.00% 19.00%
(Decreases) increases resulting from:      
Federal tax credits 0.90% 1.30% 1.10%
Change in valuation allowance (15.40%) (8.00%) (7.20%)
Net losses surrendered for research credit (6.20%) (5.30%) (3.70%)
Preferred share warrants   (3.30%) (0.60%)
Impact of statutory rate change 1.80%    
Other 1.30% (2.90%) (6.80%)
Effective income tax rate 1.40% 0.80% 1.80%