Income Taxes (Details - Rate Table)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Abstract]
U.S. federal statutory income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	0.70%	0.70%	2.50%
Domestic taxes on foreign earnings	6.90%	15.30%	6.80%
Effect of foreign taxes	(15.30%)	(3.80%)	(14.30%)
Acquisition-related	2.20%	4.40%	(8.10%)
Research credit	(2.90%)	(4.50%)	(3.00%)
Valuation allowance	7.50%	(1.30%)	0.80%
Compensation-related	0.50%	0.60%	(0.60%)
Non-deductible expenses	0.40%	0.40%	0.40%
Uncertain tax positions	(0.50%)	7.70%	1.20%
Return to provision	(0.10%)	(2.10%)	(5.70%)
Change in tax rates	(0.60%)	(0.20%)	1.90%
Other, net	0.00%	0.70%	0.40%
Reported tax rate	19.80%	38.90%	3.30%