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Summary of Significant Accounting Policies (Details - Options outstanding and exercisable) - shares shares in Thousands | Sep. 30, 2023 | Dec. 31, 2022
--- | --- | ---
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 8,335 | 11,167
Number of shares, Exercisable | 6,250 | 7,770
Range 1 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 1,440 | 1,445
Number of shares, Exercisable | 1,105 | 775
Range 2 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 2,533 | 3,785
Number of shares, Exercisable | 2,533 | 3,495
Range 3 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 2,659 | 2,739
Number of shares, Exercisable | 2,034 | 1,802
Range 4 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 0 | 0
Number of shares, Exercisable | 0 | 0
Range 5 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 0 | 740
Number of shares, Exercisable | 0 | 740
Range 6 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 0 | 748
Number of shares, Exercisable | 0 | 748
Range 7 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, Outstanding | 1,703 | 1,710
Number of shares, Exercisable | 578 | 210

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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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