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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

X

- 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

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X

- 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

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+ References

No definition available.

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