Stock-based Awards (Details - Options) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Weighted-Average Remaining Contractual Life
Stock-based compensation expense	$ 5,157	$ 6,111	$ 11,542	$ 12,025
Options
Number of Options
Outstanding at the beginning of period (in shares)			10,009,282
Granted (in shares)			768,354
Exercised (in shares)			(387,052)
Canceled/forfeited (in shares)			(1,078,734)
Outstanding at the end of the period (in shares)	9,311,850		9,311,850		10,009,282
Weighted-Average Exercise Price
Outstanding at the beginning of period (in dollars per share)			$ 9.58
Granted (in dollars per share)			5.04
Exercised (in dollars per share)			3.47
Canceled/forfeited (in dollars per share)			8.34
Outstanding at the end of the period (in dollars per share)	$ 9.60		$ 9.60		$ 9.58
Weighted-Average Remaining Contractual Life
Weighted average remaining contractual life (in years)			4 years 4 months 24 days		5 years 1 month 6 days
Remaining stock-based compensation expense for unvested awards	$ 5,200		$ 5,200
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years)			2 years 10 months 24 days
Stock-based compensation expense	$ 1,000	$ 1,400	$ 2,600	$ 3,000