Stock-based Awards (Details - Options) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Jun. 30, 2022	Sep. 30, 2022	Sep. 30, 2021
Weighted-Average Remaining Contractual Life
Stock-based compensation expense	$ 5,189	$ 4,450		$ 13,174	$ 15,992
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)				(808,004)
Outstanding at the end of the period (in shares)	5,203,272			5,203,272
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)				8.44
Outstanding at the end of the period (in dollars per share)	$ 9.43			$ 9.43
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	$ 2,500			$ 2,500
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years)				2 years 2 months 12 days
Stock-based compensation expense	$ 300	$ 500		$ 1,100	$ 3,100