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STOCKHOLDERS' EQUITY (Details - Option activity) - Equity Option [Member] - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Options Outstanding, Beginning 336,758 263,433
Weighted Average Exercise Price Outstanding, Beginning $ 12.54 $ 11.56
Number of Options Granted 169,800 78,400
Weighted Average Exercise Price Granted $ 7.54 $ 16.72
Number of Options Exercised   (1,750)
Weighted Average Exercise Price Exercised   $ 6.67
Number of Options Forfeited (24,700) (3,325)
Weighted Average Exercise Price Forfeited $ 19.70 $ 36.25
Number of Options Outstanding, Ending 481,858 336,758
Weighted Average Exercise Price Outstanding, Ending $ 10.41 $ 12.54
Weighted Average Remaining Contractual Life 7 years 3 months  
Intrinsic Value, Outstanding $ 350  
Number of Options Exercisable, Ending 151,310  
Weighted Average Exercise Price Exercisable, Ending $ 5.55  
Weighted Average Remaining Contractual Life, exercisable 7 years 2 months 4 days  
Intrinsic Value, Exercisable $ 233