STOCK BASED COMPENSATION (Details - Compensation Expense) - USD ($) $ in Thousands |
3 Months Ended | 9 Months Ended | ||
|---|---|---|---|---|
Sep. 30, 2021 |
Sep. 30, 2020 |
Sep. 30, 2021 |
Sep. 30, 2020 |
|
| Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||||
| Allocated stock-based compensation | $ 756 | $ 829 | $ 2,334 | $ 2,224 |
| Research and Development Expense [Member] | ||||
| Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||||
| Allocated stock-based compensation | 267 | 319 | 757 | 843 |
| General and Administrative Expense [Member] | ||||
| Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||||
| Allocated stock-based compensation | 442 | 470 | 1,451 | 1,269 |
| Selling and Marketing [Member] | ||||
| Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||||
| Allocated stock-based compensation | $ 47 | $ 40 | $ 126 | $ 112 |