Stock-based Awards (Details - Options) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Weighted-Average Remaining Contractual Life
Stock-based compensation expense	$ 4,487		$ 5,157	$ 7,985	$ 11,542
Options
Number of Options
Outstanding at the beginning of period (in shares)		6,078,180		6,078,180
Granted (in shares)				0
Exercised (in shares)				(66,904)
Canceled/forfeited (in shares)				(591,738)
Outstanding at the end of the period (in shares)	5,419,538			5,419,538
Weighted-Average Exercise Price
Outstanding at the beginning of period (in dollars per share)		$ 9.24		$ 9.24
Granted (in dollars per share)				0
Exercised (in dollars per share)				2.68
Canceled/forfeited (in dollars per share)				7.32
Outstanding at the end of the period (in dollars per share)	$ 9.53			$ 9.53
Weighted-Average Remaining Contractual Life
Weighted average remaining contractual life (in years)		6 years 2 months 12 days		5 years 6 months
Remaining stock-based compensation expense for unvested awards	$ 2,900			$ 2,900
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years)				2 years 4 months 24 days
Stock-based compensation expense	$ 400		$ 1,000	$ 800	$ 2,600