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Restricted net assets
9 Months Ended
Sep. 30, 2021
Restricted Net Assets [Abstract]  
Restricted net assets Restricted net assets
The Company’s consolidated subsidiaries operating in China and Japan are restricted from transferring funds or assets to its parent company in the form of cash dividends, loans or advances. As of September 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 $157.1 million and $180.4 million as of September 30, 2021 and December 31, 2020, respectively, which consisted of (in thousands):
  September 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
10,125 10,010 
Loan agreements in Japan requiring local subsidiaries to maintain minimum net asset levels
895 969 
  Total restricted net assets in the Company's consolidated subsidiaries$11,478 $11,431