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Stock-based Awards (Details - Options) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Weighted-Average Remaining Contractual Life      
Stock-based compensation expense $ 6,385 $ 5,914  
Options      
Number of Options      
Outstanding at the beginning of period (in shares) 10,009,282    
Granted (in shares) 768,354    
Exercised (in shares) (180,321)    
Canceled/forfeited (in shares) (742,705)    
Outstanding at the end of the period (in shares) 9,854,610   10,009,282
Weighted-Average Exercise Price      
Outstanding at the beginning of period (in dollars per share) $ 9.58    
Granted (in dollars per share) 5.04    
Exercised (in dollars per share) 3.14    
Canceled/forfeited (in dollars per share) 7.97    
Outstanding at the end of the period (in dollars per share) $ 9.46   $ 9.58
Weighted-Average Remaining Contractual Life      
Weighted average remaining contractual life (in years) 4 years 8 months 12 days   5 years 1 month 6 days
Remaining stock-based compensation expense for unvested awards $ 6,700    
Weighted average period over which remaining stock based compensation expense for unvested awards is expected to be recognized (in years) 2 years 9 months 18 days    
Stock-based compensation expense $ 1,600 $ 1,600