Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plan - Stock options and stock appreciation rights activity (Details)

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Equity Incentive Plan - Stock options and stock appreciation rights activity (Details) - 2020 Plan - Stock Options and Stock Appreciation Rights - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Shares under Option Plan    
Outstanding, Beginning balance (in shares) 8,234,823  
Granted (in shares) 1,784,446  
Exercised (in share) (442,573)  
Forfeited and expired (in shares) (234,107)  
Outstanding, Ending balance (in share) 9,342,589 8,234,823
Exercisable (in shares) 6,028,787  
Vested and expected to vest (in shares) 9,342,589  
Weighted- Average Exercise Price per Option    
Outstanding, Beginning balance (in dollars per share) $ 1.82  
Granted (in dollars per share) 2.19  
Exercised (in dollars per share) 1.32  
Forfeited and expired (in dollars per share) 2.49  
Outstanding, Ending balance (in dollars per share) 1.94 $ 1.82
Exercisable (in dollars per share) 1.64  
Vested and expected to vest (in dollars per share) $ 1.94  
Weighted- Average Remaining Contractual Life (in years)    
Outstanding 7 years 2 months 12 days 7 years 8 months 12 days
Exercisable 6 years 7 months 6 days  
Vested and expected to vest 7 years 2 months 12 days