STOCK BASED COMPENSATION (Details - Compensation Expense) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
|
| Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||
| Allocated stock-based compensation | $ 1,024 | $ 927 |
| Research and Development Expense [Member] | ||
| Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||
| Allocated stock-based compensation | 377 | 328 |
| General and Administrative Expense [Member] | ||
| Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||
| Allocated stock-based compensation | 583 | 525 |
| Selling And Marketing [Member] | ||
| Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] | ||
| Allocated stock-based compensation | $ 64 | $ 74 |