ancient Greeks
Athenians actually - not the Spartans, Corinthians and many others with various "tyrants" or Persians in charge.
And interestingly, it was a direct participatory democracy, if you did not attend the public meetings you were "useless".
It also had a legal structure behind it, Solon very important with others.
There were three very important points of discussion for centuries, freedom, justice and luxury.
In many ways monotheism is an institutionalisation of tyrannical rule.