Summary of Significant Accounting Policies (Details - Supplemental balance sheet information related to leases) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Operating Leases
Operating lease right-of-use assets	$ 29,575	$ 28,397
Less: Accumulated amortization right-of-use assets	(24,649)	(22,613)
Operating lease right-of-use assets, net	4,926	5,784
Operating lease liabilities	(5,271)	(6,234)
Finance Leases
Property and equipment, at cost	3,454	3,407
Less: Accumulated depreciation	(3,357)	(3,301)
Property and equipment, net	97	106
Finance lease liabilities	$ (102)	$ (177)
Operating Lease, Weighted Average Discount Rate, Percent	5.00%	5.00%
Finance Lease, Weighted Average Discount Rate, Percent	6.50%	6.50%