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Cash, cash equivalents, short-term investments, and restricted cash (Tables)
9 Months Ended
Sep. 30, 2021
Cash and Cash Equivalents [Abstract]  
Schedule of cash and cash equivalents The following table summarizes the Company’s cash, cash equivalents and restricted cash (in thousands): 
 September 30, 2021December 31, 2020
Cash and cash equivalents$76,578 $95,117 
Restricted cash495 489 
Total cash, cash equivalents and restricted cash shown in the statement of cash flows$77,073 $95,606 
Schedule of restricted cash The following table summarizes the Company’s cash, cash equivalents and restricted cash (in thousands): 
 September 30, 2021December 31, 2020
Cash and cash equivalents$76,578 $95,117 
Restricted cash495 489 
Total cash, cash equivalents and restricted cash shown in the statement of cash flows$77,073 $95,606 
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 
Schedule of unrealized gains and losses related to cash equivalents and short-term investments in marketable securities
The following table summarizes the Company’s unrealized gains and losses related to its short-term investments in marketable securities designated as available-for-sale (in thousands): 
 As of September 30, 2021As of December 31, 2020
 Amortized CostGross Unrealized GainsGross Unrealized LossFair ValueAmortized CostGross Unrealized GainsGross Unrealized LossFair Value
Marketable securities:        
Money market funds$27,674 $— $— $27,674 $27,669 $— $— $27,669 
Reported as:        
Short-term investments$27,674 $27,669