Summary of Significant Accounting Policies (Details - Earning per share) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Numerator for basic and diluted earnings per share	$ 45,343	$ 85,983	$ 47,524
Denominator for basic earnings per share - weighted average number of common shares outstanding during the year	20,896	20,958	22,562
Incremental common shares attributable to exercise of outstanding options and warrants	4,322	5,631	3,218
Denominator for diluted earnings per share	25,218	26,589	25,780
Basic earnings per share	$ 2.17	$ 4.10	$ 2.11
Diluted earnings per share	$ 1.80	$ 3.23	$ 1.84