(7) Shareholders’ Equity (Details Narrative) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Class of Stock [Line Items]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value	$ 5.42	$ 2.65	$ 1.33
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum	75.00%	79.00%	72.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum	80.00%	71.00%	80.00%
Stock-based compensation expense	$ 4,400,000	$ 2,000,000.0	$ 1,900,000
Unrecognized stock-based compensation costs	$ 9,500,000
Weighted-average period for unrecognized costs	2 years 6 months
Intrinsic value options outstanding	$ 11,200,000	13,100,000
Intrinsic value of options exercisable	7,800,000	9,700,000
Intrinsic value of options exercised	23,400,000	$ 9,000,000.0
Proceeds from options exercised	$ 15,300,000
Authorizations prior to December 31, 2015 [Member]
Class of Stock [Line Items]
Options authorized under plan	22,200,000
Shares available for grant	2,661,000
Common Stock [Member]
Class of Stock [Line Items]
Stock Repurchase Program, Authorized Amount	$ 35,000,000.0
Stock Repurchase Program, Remaining Authorized Repurchase Amount	$ 8,300,000
Common Stock [Member]
Class of Stock [Line Items]
Stock Repurchased During Period, Shares	4,139,664	3,884,876
Treasury Stock Acquired, Average Cost Per Share	$ 11.11	$ 3.97