Commitments and Contingencies (Details - Supplemental balance sheet information related to leases) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Operating Leases
Operating lease right-of-use assets	$ 29,575	$ 28,397
Less: Accumulated amortization right-of-use assets	(26,651)	(22,613)
Operating lease right-of-use assets, net	2,924	5,784
Operating lease liabilities	(3,220)	(6,234)
Finance Leases
Property and equipment, at cost	3,474	3,407
Less: Accumulated depreciation	(3,385)	(3,301)
Property and equipment, net	89	106
Finance lease liabilities	$ (93)	$ (177)
Operating lease	5.00%	5.00%
Finance lease	6.50%	6.50%