Capital Structure - Purchase of Common Stock from Employees Withholding Tax Payments Related to Vesting of Restricted Stock (Details - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Equity [Abstract]
Shares repurchased (in shares)	200,402	191,780
Total consideration	$ 6,375	$ 6,529
Weighted average purchase price per share (in dollars per share)	$ 31.81	$ 34.04