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Summary of Significant Accounting Policies (Details - Options outstanding and exercisable) - shares shares in Thousands | Mar. 31, 2024 | Dec. 31, 2023
--- | --- | ---
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 7,945 | 8,125
Number of shares, exercisable | 6,070 | 6,062
$2.00 - $2.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 1,410 | 1,410
Number of shares, exercisable | 1,083 | 1,082
$3.00 - $3.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 2,383 | 2,473
Number of shares, exercisable | 2,383 | 2,473
$4.00 - $4.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 2,450 | 2,539
Number of shares, exercisable | 1,839 | 1,929
$6.00 - $6.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 0 | 0
Number of shares, exercisable | 0 | 0
$7.00 - $7.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 0 | 0
Number of shares, exercisable | 0 | 0
$10.00 - $10.99 [Member] |  |
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items] |  |
Number of shares, outstanding | 1,702 | 1,703
Number of shares, exercisable | 765 | 578

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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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