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Stock-Based Compensation (Details - Exercise Price)
shares in Thousands
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Range 1 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range $ 0.40
Exercise price, high end of range $ 0.48
Options Outstanding | shares 88
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 9 months 21 days
Options Outstanding Weighted Average Exercise Price $ 0.47
Options Exercisable | shares 88
Options Exercisable Weighted Average Exercise Price $ 0.47
Range 2 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range 1.15
Exercise price, high end of range $ 2.80
Options Outstanding | shares 98
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 1 year 6 months 25 days
Options Outstanding Weighted Average Exercise Price $ 1.78
Options Exercisable | shares 98
Options Exercisable Weighted Average Exercise Price $ 1.78
Range 3 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range 3.45
Exercise price, high end of range $ 4.75
Options Outstanding | shares 331
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 9 years 2 months 1 day
Options Outstanding Weighted Average Exercise Price $ 3.72
Options Exercisable | shares 35
Options Exercisable Weighted Average Exercise Price $ 4.38
Range 4 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range 8.72
Exercise price, high end of range $ 12.71
Options Outstanding | shares 135
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 8 years 3 months 7 days
Options Outstanding Weighted Average Exercise Price $ 12.21
Options Exercisable | shares 53
Options Exercisable Weighted Average Exercise Price $ 11.87
Range 5 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range 23.52
Exercise price, high end of range $ 23.52
Options Outstanding | shares 17
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 8 years 2 months 1 day
Options Outstanding Weighted Average Exercise Price $ 23.52
Options Exercisable | shares 7
Options Exercisable Weighted Average Exercise Price $ 23.52
Range 6 [Member]  
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]  
Exercise price, high end of range 0.40
Exercise price, high end of range $ 23.52
Options Outstanding | shares 668
Options Outstanding, Weighted Aaverage Rremaining Ccontractual Life (Year) 6 years 8 months 23 days
Options Outstanding Weighted Average Exercise Price $ 5.22
Options Exercisable | shares 281
Options Exercisable Weighted Average Exercise Price $ 4.13