Stock-based Awards (Details - Stock Options) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Weighted-Average Remaining Contractual Life
Stock-based compensation expense	$ 3,189	$ 3,891	$ 5,821	$ 8,599
Options
Number of Options
Outstanding at the beginning of period (in shares)			2,240,898
Granted (in shares)			0
Exercised (in shares)			(22,727)
Forfeited/expired (in shares)			(787,886)
Outstanding at the end of the period (in shares)	1,430,285		1,430,285		2,240,898
Weighted-Average Exercise Price
Outstanding at the beginning of period (in dollars per share)			$ 10.65
Granted (in dollars per share)			0
Exercised (in dollars per share)			2.68
Forfeited/expired (in dollars per share)			12.39
Outstanding at the end of the period (in dollars per share)	$ 9.82		$ 9.82		$ 10.65
Weighted-Average Remaining Contractual Life
Weighted average remaining contractual life (in years)			3 years 8 months 12 days		3 years 1 month 6 days
Remaining stock-based compensation expense for unvested awards	$ 200		$ 200
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years)			9 months 18 days
Stock-based compensation expense	$ 100	$ 400	$ 100	$ 700