Annual report pursuant to Section 13 and 15(d)

Stockholders' equity - Narrative (Details)

v3.21.1
Stockholders' equity - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
Apr. 01, 2020
shares
Mar. 31, 2020
$ / shares
shares
Jan. 30, 2019
$ / shares
shares
Nov. 30, 2019
USD ($)
$ / shares
shares
Aug. 31, 2019
USD ($)
Jun. 30, 2016
USD ($)
$ / shares
shares
Mar. 30, 2021
transaction
partner
Sep. 30, 2020
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Jan. 31, 2019
shares
Class of Stock [Line Items]                      
Common stock, shares authorized (shares)                 300,000,000 300,000,000  
Common stock, shares outstanding (shares)                 56,002,815 55,212,437  
Common stock, shares issued (shares)                 56,002,815 55,212,437  
Par value of common stock (USD per share) | $ / shares                 $ 0.001 $ 0.001  
Preferred stock, shares authorized (shares)                 10,000,000 10,000,000  
Preferred stock, shares outstanding (shares)                 14,429 11,429  
Preferred stock, shares issued (shares)                 14,429 11,429  
Preferred stock, par value (USD per share) | $ / shares                 $ 0.001 $ 0.001  
Cash proceeds from option exercises | $                 $ 291 $ 553  
Cash proceeds from exercise of warrants | $                 $ 0 $ 246  
Number of shares per unit (shares)           1          
Gross sales proceeds from common stock | $         $ 50,000            
Warrant exercise period           5 years          
Subsequent Event                      
Class of Stock [Line Items]                      
Number of transactions (in transactions) | transaction             2        
Number of partners (in partners) | partner             2        
Series A Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares outstanding (shares)                 2,907 2,907  
Preferred stock, shares issued (shares)                 2,907 2,907  
Preferred stock, par value (USD per share) | $ / shares           $ 0.001          
Number of shares per unit (shares)           1          
Shares issued upon conversion of convertible preferred stock (shares)           1,000          
Price per unit issued (USD per share) | $ / shares           $ 2.015          
Proportion of beneficial ownership (as a percent)           9.99%          
Series B Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares outstanding (shares)                 5,000 5,000  
Preferred stock, shares issued (shares)                 5,000 5,000  
Series C Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares outstanding (shares)                 3,522 3,522  
Preferred stock, shares issued (shares)                 3,522 3,522  
Series D Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares outstanding (shares)                 3,000 0  
Preferred stock, shares issued (shares)                 3,000 0  
Tranche A Warrants                      
Class of Stock [Line Items]                      
Number of shares called by warrants (shares)           0.4          
Exercise price (USD per share) | $ / shares           $ 2.00          
Number of warrants           1          
Tranche B Warrants                      
Class of Stock [Line Items]                      
Number of shares called by warrants (shares)           0.2          
Exercise price (USD per share) | $ / shares           $ 3.00          
Number of warrants           1          
Common shares                      
Class of Stock [Line Items]                      
Issuance of common stock resulting from exercise of stock options (shares)                 149,000 279,000  
Issuance of common stock resulting from exercise convertible securities (shares)                   176,000  
Convertible  preferred shares | Series B Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares authorized (shares)                     5,000
Preferred stock, par value (USD per share) | $ / shares     $ 0.001                
Shares issued upon conversion of convertible preferred stock (shares)     1,000                
Effective period of change to beneficial ownership limitation     61 days                
Common stock ownership limit (as a percent)     9.99%                
Beneficial ownership limitation (as a percent)     19.99%                
Convertible  preferred shares | Series C Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Shares issued upon conversion of convertible preferred stock (shares)       1,000              
Common stock ownership limit (as a percent)       9.99%              
Beneficial ownership limitation (as a percent)       19.99%              
Convertible  preferred shares | Series D Convertible Preferred Stock                      
Class of Stock [Line Items]                      
Preferred stock, shares authorized (shares) 3,000                    
Preferred stock, par value (USD per share) | $ / shares   $ 0.001                  
Shares issued upon conversion of convertible preferred stock (shares)   1,000                  
Effective period of change to beneficial ownership limitation   61 days                  
Common stock ownership limit (as a percent)   9.99%                  
Beneficial ownership limitation (as a percent)   19.99%                  
Stock Exchange, Shares from Existing Shareholders | Common shares                      
Class of Stock [Line Items]                      
Shares of common stock issued (shares) 3,000,000   5,000,000                
Preferred Share Exchange                      
Class of Stock [Line Items]                      
Issue price per share (USD per share) | $ / shares       $ 3.43              
Beneficial conversion feature | $       $ 2,800              
Preferred Share Exchange | Convertible  preferred shares                      
Class of Stock [Line Items]                      
Shares of common stock issued (shares) 3,000   5,000                
Private Placement                      
Class of Stock [Line Items]                      
Shares of common stock issued (shares)       9,014,960              
Issue price per share (USD per share) | $ / shares       $ 3.55              
Shares of stock sold, gross consideration | $       $ 32,000              
Net proceeds from underwritten public offering | $       $ 31,000              
Number of shares per unit (shares)       1              
Shares issued upon conversion of convertible preferred stock (shares)       0.001              
Number of warrants included with each unit (in shares)       1              
Exercise price (USD per share) | $ / shares       $ 7.10              
Period of determining volume weighted average stock price       10 days              
Weighted average stock price commencing on trading day       3.00%              
Effective period of change to beneficial ownership limitation       60 days              
Private Placement | Maximum                      
Class of Stock [Line Items]                      
Warrants and rights outstanding, term       5 years              
Private Placement | Series A Convertible Preferred Stock | Two Thousand And Sixteen Private Investment In Public Equity                      
Class of Stock [Line Items]                      
Preferred stock, shares issued (shares)           4,963          
At the market offering                      
Class of Stock [Line Items]                      
Shares of common stock issued (shares)               3,571,428      
Issue price per share (USD per share) | $ / shares               $ 2.80      
Net proceeds from underwritten public offering | $               $ 10,000      
Gross sales proceeds from common stock | $               $ 9,700      
Sales commissions and fees               3.00%      
Securities Purchase Agreement                      
Class of Stock [Line Items]                      
Number of capital units sold in private placement transaction (units)           8,188,804          
Price per unit issued (USD per share) | $ / shares           $ 2.015          
Gross proceeds from private placement units sold | $           $ 16,500          
Net proceeds from private placement units sold | $           $ 15,300          
Two Thousand And Sixteen Private Investment In Public Equity                      
Class of Stock [Line Items]                      
Shares of common stock issued (shares)           3,225,804