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Restricted net assets (Tables)
 6 Months Ended
Jun. 30, 2021
Restricted Net Assets [Abstract]  
Schedule of restrictions on net assets The following table summarizes the Company’s cash, cash equivalents and restricted cash (in thousands): 
 June 30, 2021December 31, 2020
Cash and cash equivalents$66,836 $95,117 
Restricted cash495 489 
Total cash, cash equivalents and restricted cash shown in the statement of cash flows$67,331 $95,606 
As of June 30, 2021 and December 31, 2020, the Company's consolidated subsidiaries had $11.5 million and $11.4 million, respectively, of restricted net assets. This compares to the Company's consolidated net assets of $157.4 million and $180.4 million as of June 30, 2021 and December 31, 2020, respectively, which consisted of (in thousands):
  June 30, 2021December 31, 2020
Cash restricted in China as a result of unfulfilled government grants$458 $452 
China earnings restricted to fund statutory common reserves in China
10,126 10,010 
Loan agreements in Japan requiring local subsidiaries to maintain minimum net asset levels
903 969 
  Total restricted net assets in the Company's consolidated subsidiaries$11,487 $11,431