Get some good down or synthetic fill cleaner, usually from your local outfitter, and go to a laundrymat. Follow the directions on the bottle of cleaner
Back to the original question about when to replace a synthetic sleeping bag.
The obvious answer is when it no longer keeps you warm.
But, if you want see how loft it has, and thus, get an indication of what temperature it's good for, take it to you local outfitter and lay it out along side a new synthetic sleeping bag. Generally speaking, if it's got as much loft as say, a new 20 degree bag, then it should good for about that temperature.
I still have the first down bag I ever owned... purchased in 1972. It's still nice and lofty. The first synthetic bag I ever owned was purchased in 1976. I still have it but it's lost soooo much of it's loft that it's really useless.
I consider a down bag to be a lifetime companion. Synthetic's are disposable.