Stock-based Awards (Details - PSUs) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Weighted-Average Grant Date Fair Value
Stock-based compensation expense	$ 2,953	$ 3,273	$ 8,774	$ 11,872
Performance Stock Units
Number of Shares
Non-vested at the beginning of period (in shares)			2,518,556
Granted (in shares)			1,231,577
Vested (in shares)			(364,837)
Forfeited (in shares)			(131,555)
Non-vested at the end of the period (in per share)	3,253,741		3,253,741
Weighted-Average Grant Date Fair Value
Non-vested at the beginning of period (in dollars per share)			$ 4.18
Granted (in dollars per share)			4.39
Vested (in dollars per share)			5.99
Forfeited (in dollars per share)			5.25
Non-vested at the end of the period (in dollars per share)	$ 4.01		$ 4.01
Remaining stock-based compensation expense for unvested awards	$ 6,100		$ 6,100
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years)			2 years 1 month 6 days
Stock-based compensation expense	$ 900	$ 700	$ 2,500	$ 2,100