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Shareholders' Equity (Details - Options outstanding and exercisable) - shares
shares in Thousands
Dec. 31, 2023
Dec. 31, 2022
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 8,125 11,167
Number of shares, exercisable 6,062 7,770
$2.00 - $2.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 1,410 1,445
Number of shares, exercisable 1,082 775
$3.00 - $3.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 2,473 3,785
Number of shares, exercisable 2,473 3,495
$4.00 - $4.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 2,539 2,739
Number of shares, exercisable 1,929 1,802
$6.00 - $6.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 0 740
Number of shares, exercisable 0 740
$7.00 - $7.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 0 748
Number of shares, exercisable 0 748
$10.00 - $10.99 [Member]    
Share-Based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Number of shares, outstanding 1,703 1,710
Number of shares, exercisable 578 210