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Restricted net assets (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020	Mar. 31, 2020	Dec. 31, 2019
Restricted Cash and Cash Equivalents Items [Line Items]
Total restricted net assets in the Company's consolidated subsidiaries	$ 11,327	$ 11,431
Stockholders' equity	169,658	180,407	$ 167,238	$ 160,206
Cash restricted in China as a result of unfulfilled government grants
Restricted Cash and Cash Equivalents Items [Line Items]
Total restricted net assets in the Company's consolidated subsidiaries	451	452
China earnings restricted to fund statutory common reserves in China
Restricted Cash and Cash Equivalents Items [Line Items]
Total restricted net assets in the Company's consolidated subsidiaries	9,973	10,010
Loan agreements in Japan requiring local subsidiaries to maintain minimum net asset levels
Restricted Cash and Cash Equivalents Items [Line Items]
Total restricted net assets in the Company's consolidated subsidiaries	$ 903	$ 969

Total of all stockholders' equity (deficit) items, net of receivables from officers, directors, owners, and affiliates of the entity which are attributable to the parent. The amount of the economic entity's stockholders' equity attributable to the parent excludes the amount of stockholders' equity which is allocable to that ownership interest in subsidiary equity which is not attributable to the parent (noncontrolling interest, minority interest). This excludes temporary equity and is sometimes called permanent equity.

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