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Other income, net (Details) - USD ($)
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Other income, net      
Foreign exchange gain (loss) $ (434,000) $ (411,000) $ 321,000
Income from local China government subsidy 1,125,000 3,800,000 808,000
Other expense (182,000) (189,000) (182,000)
Total other income, net $ 509,000 $ 3,200,000 $ 947,000