Note 6 - Indebtedness (Details Textual) - USD ($) | Dec. 16, 2019 | Jun. 30, 2019 | Apr. 05, 2019 | May 16, 2018 | May 01, 2018 | Mar. 17, 2017 | Jan. 31, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Oct. 26, 2012 |
Proceeds from Convertible Debt | | | | | | | | $ 810,000 | $ 1,329,000 | |
Intrinsic Value of Convertible Debt with Conversion Feature | | | | | | | | 353,000 | 716,000 | |
Debt Instrument, Convertible, Gross Proceeds from Sale of Equity Trigger | | | | $ 2,000,000 | | | | | | |
Repayments of Long-term Debt, Total | | | | | | | | 161,000 | $ 14,000 | |
Institute [Member] | | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | | | | | 4.125% |
Debt Instrument, Face Amount | | | | | | | | | | $ 300,000 |
Conversion from Debt to Common Stock [Member] | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | $ 3.50 | | | | | | | | |
Debt Conversion, Original Debt, Amount | | $ 2,200,000 | | 3,100,000 | | | | | | |
Debt Conversion, Accrued Interest, Amount | | $ 105,000 | | $ 183,000 | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | 651,758 | | 104,463 | | | | | | |
Debt Conversion, Converted Instrument, Units Issued | | | | 646,279 | | | | | | |
Debt Instrument, Unamortized Discount, Total | | | | $ 121,000 | | | | | | |
Warrants In Connection with 2018 Convertible Notes Payable [Member] | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | | | 2 | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | | | | 1,243,498 | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | | | | | | | $ 4.50 | | | |
Warrants and Rights Outstanding, Term | | | | | | | 5 years | | | |
Warrants Upon Issuance, Fair Value | | | | | | | $ 2,500,000 | | | |
Warrants in Connection with Debt Conversion [Member] | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | 1 | | | | | | |
Warrants In Connection with Term Debt [Member] | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | 5,555 | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | | | $ 4.50 | | | | | | | |
Warrants and Rights Outstanding, Term | | | 5 years | | | | | | | |
Warrants Issued in Connection with Second Amended Unsecured Loan Agreement [Member] | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | 5,000 | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ 4 | | | | | | | | | |
Warrants Issued for Both Amendments to the Unsecured Loan Agreement [Member] | | | | | | | | | | |
Warrants and Rights Outstanding | $ 14,000 | | | | | | | | | |
Convertible Debt [Member] | | | | | | | | | | |
Proceeds from Convertible Debt | | | | | | | | 816,000 | | |
Debt Conversion, Original Debt, Amount | | | | | | | | 2,175,000 | | |
The 2018 Notes [Member] | | | | | | | | | | |
Proceeds from Convertible Debt | | | | | | | 2,200,000 | | | |
Convertible Debt, Mandatory Conversion Threshold, Gross Proceeds from Sale of Equity Securities | | | | | | | 6,000,000 | | | |
Class of Warrant or Right, Principal Amount of Every Amount Of Notes Purchased | | | | | | | 3.50 | | | |
Intrinsic Value of Convertible Debt with Conversion Feature | | | | | | | $ 900,000 | | | |
The 2018 Notes [Member] | Convertible Debt [Member] | | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | | 10.00% | | | |
Debt Instrument, Convertible, Conversion Price | | | | | | | $ 3.50 | | | |
The 2017 Notes [Member] | | | | | | | | | | |
Proceeds from Convertible Debt, Gross | | | | | | $ 3,100,000 | | | | |
Unamortized Debt Discount Charged to Interest Expense | | | | $ 1,000,000 | | | | | | |
The 2017 Notes [Member] | Convertible Debt [Member] | | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | 5.00% | | | | |
Debt Instrument, Convertible, Conversion Price | | | | | | $ 10.10 | | | | |
Debt Instrument, Qualified Financing, Minimum Proceeds | | | | | | $ 2,000,000 | | | | |
Debt Instrument, Convertible, Beneficial Conversion Feature | | | | | | $ 3,000,000 | | | | |
Amended Unsecured Loan Agreement [Member] | Institute [Member] | | | | | | | | | | |
Debt Instrument, Periodic Payment, Total | | | | | $ 10,000 | | | | | |
Second Amended Unsecured Loan Agreement [Member] | Institute [Member] | | | | | | | | | | |
Repayments of Long-term Debt, Total | $ 50,000 | | | | | | | | | |
Term Debt [Member] | | | | | | | | | | |
Debt Instrument, Periodic Payment, Total | | | $ 10,000 | | | | | | | |
Long-term Debt, Total | | | | | | | | $ 116,000 | | |