v3.24.0.1
STOCK-BASED COMPENSATION (Details - Stock Option Activity) - Equity Option [Member]
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]  
Options outstanding | shares 3,009
Options outstanding, weighted average exercise price | $ / shares $ 7.07
Options granted | shares 393
Options granted, weighted average exercise price | $ / shares $ 6.54
Options exercised | shares (33)
Options exercised, weighted average exercise price | $ / shares $ 3.90
Options outstanding | shares 3,369
Options outstanding, weighted average exercise price | $ / shares $ 7.04
Options outstanding, weighted average remaining contractual term 4 years 7 months 28 days
Options outstanding, intrinsic value | $ $ 3,437
Options exercisable | shares 2,862
Options exercisable, weighted average exercise price | $ / shares $ 6.64
Options exercisable, weighted average remaining contractual term 3 years 11 months 12 days
Options exercisable, intrinsic value | $ $ 3,190