Note G - Debt Obligations (Details Textual) - USD ($) | Jan. 13, 2020 | Dec. 31, 2019 | Dec. 18, 2019 | Sep. 03, 2019 | Oct. 05, 2018 | Jun. 11, 2018 | Feb. 09, 2016 | Jun. 02, 2014 | Apr. 30, 2015 | Dec. 31, 2019 | Sep. 03, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2019 | Sep. 02, 2019 | Jun. 30, 2016 |
Convertible Notes Payable, Current | | | | | | | | | | | | | $ 3,333,000 | | | |
Convertible Preferred Stock, Conversion Restriction, Percentage of Common Stock | | | | 4.985% | | | | | | | 4.985% | | | | | |
Interest Paid, Excluding Capitalized Interest, Operating Activities | | | | | | | | | | | | $ 5,362,000 | $ 5,539,000 | | | |
Conversion of Stock, Maximum Shares Issued | | | 28,439,015 | | | | | | | | | | | | | |
Series A Preferred Stock Converted Into Common Stock [Member] | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued | | | | | | | | | | | | 1,112,333 | 2,080,000 | 3,192,333 | | |
Conversion of Stock, Shares Converted | | | | | | | | | | | | | | 9,577 | | |
Series B-1 Preferred Convertible Stock Converted to Common Stock [Member] | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued | | | | | | | | | | 1,659,966 | | 1,659,996 | | | | |
Conversion of Stock, Shares Converted | | | | | | | | | | 1,576 | | 1,576 | | | | |
Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share | | | | | $ 0.0001 | | | | | | | | | | | |
Preferred Stock, Aggregate Stated Value Per Share | | | | | 1,000 | | | | | | | | | | | |
Convertible Preferred Stock, Conversion Price | | | | | $ 3 | | | | | | | | | | | |
Convertible Preferred Stock, Shares Issuable Upon Conversion | | | | | 3,192,333 | | | | | | | | | | | |
Conversion Of Stock Shares Issuable If Converted | | | | | 3,192,333 | | | | | | | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance | | 0 | | | | | | | | 0 | | 0 | 3,337 | 0 | | |
Series B-1 Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share | | $ 0.0001 | | $ 0.0001 | | | | | | $ 0.0001 | $ 0.0001 | $ 0.0001 | $ 0.0001 | $ 0.0001 | | |
Preferred Stock, Aggregate Stated Value Per Share | | | | 1,000 | | | | | | | 1,000 | | | | | |
Convertible Preferred Stock, Conversion Price | | | | $ 0.9494 | | | | | | | $ 0.9494 | | | | | |
Conversion Of Stock Shares Issuable If Converted | | | | 1,659,996 | | | | | | | 1,659,996 | | | | | |
Convertible Preferred Stock, Conversion Restriction, Percentage of Common Stock | | | | 4.985% | | | | | | | 4.985% | | | | | |
Preferred Stock, Liquidation Preference Per Share | | | | $ 0.0001 | | | | | | | $ 0.0001 | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance | | 0 | | | | | | | | 0 | | 0 | 0 | 0 | | |
Series B-2 Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share | | $ 0.0001 | | 0.0001 | | | | | | $ 0.0001 | 0.0001 | $ 0.0001 | $ 0.0001 | $ 0.0001 | | |
Preferred Stock, Aggregate Stated Value Per Share | | | | 1,000 | | | | | | | 1,000 | | | | | |
Convertible Preferred Stock, Conversion Price | | | | $ 0.9494 | | | | | | | $ 0.9494 | | | | | |
Conversion Of Stock Shares Issuable If Converted | | | | 28,439,015 | | | | | | | 28,439,015 | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance | | 0 | | | | | | | | 0 | | 0 | 0 | 0 | | |
Series B Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Preferred Stock, Liquidation Preference Per Share | | | | $ 0.0001 | | | | | | | $ 0.0001 | | | | | |
Conversion from Deerfield Convertible Note to Common Stock [Member] | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | $ 3,333,333 | | | | | | | | | | |
Debt Conversion, Accrued Interest | | | | | | $ 168,288 | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | | | | | 598,568 | | | | | | | | | | |
Exchanged 2021 Notes for Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | $ 9,577,000 | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | | | | 9,577 | | | | | | | | | | | |
DebtConversionOptionToExchangeAmount | | | | $ 27,000,000 | | | | | | | $ 27,000,000 | | | | | |
2021NotesConvertedToCommonStockMember | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | | | 1,499,894 | | | | | | | | | | | | |
2021NotesConvertedToSeriesB1PreferredStockMember | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | | | 1,576 | | | | | | | | | | | | |
Conversion From Deerfield Convertible Note to Common and Preferred Stock Member | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | $ 3,000,000 | | | | | | | | | | | | |
Exchanged2021NotesForSeriesB2PreferredStockMember | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | | $ 1,000 | | | | | | | $ 1,000 | | | | | |
Exchanged2021NotesForCommonStockMember | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | | $ 0.9494 | | | | | | | $ 0.9494 | | | | | |
The 2019 Notes Converted to Common Stock [Member] | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | $ 1,200,000 | | | | | | | | | | $ 1,200,000 | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | 2,000,000 | | | | | | | | | | | | | | |
2021 Notes [Member] | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | | | | | $ 17.11 | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | | $ 1,000 | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued | | | | | | | 58.4454 | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | | 5.50% | | | | | | | | | |
Debt Instrument, Face Amount | | | | | | | $ 86,300,000 | | | | | | | | | |
Debt Instrument, Sinking Fund Payment | | | | | | | 0 | | | | | | | | | |
Proceeds from Debt, Net of Issuance Costs | | | | | | | 82,800,000 | | | | | | | | | |
Repayments of Long-term Debt, Total | | | | | | | $ 18,600,000 | | | | | | | | | |
Debt Instrument Repurchase Price Equal to Percentage of Principal Amount | | | | | | | 100.00% | | | | | | | | | |
Debt Instrument, Cancellation of Debt, Amount | | | $ 71,418,011 | | | | | | | | | | | | | |
Interest Paid, Excluding Capitalized Interest, Operating Activities | | | $ 745,011 | | | | | | | | | | | | | |
Debt Instrument, Percentage of Accrued Interest Paid | | | 50.00% | | | | | | | | | | | | | |
2021 Notes [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | |
Debt Instrument, Cancellation of Debt, Amount | $ 3,037,354 | | | | | | | | | | | | | | | |
Interest Paid, Excluding Capitalized Interest, Operating Activities | $ 37,354 | | | | | | | | | | | | | | | |
The 2019 Notes [Member] | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | $ 17.11 | | | | | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | 6.75% | | | | | | | | | | | | | |
Debt Instrument, Face Amount | | | $ 71,418,011 | | | | | | | | | | | | | |
Debt Instrument, Convertible, Number of Equity Instruments | | | 4,174,051 | | | | | | | | | | | | | |
Debt Instrument, Convertible, Minimum Conversion Price | | $ 0.38 | $ 0.583 | | | | | | | $ 0.38 | | $ 0.38 | | $ 0.38 | | |
Debt Instrument, Convertible, Conversion Restriction Percentage of Common Stock | | | 4.985% | | | | | | | | | | | | | |
Beneficial Ownership, Cap Limit, Percentage | | | 19.985% | | | | | | | | | | | | | |
The 2019 Notes [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | $ 5.85 | | | | | | | | | | | | | | | |
Debt Instrument, Percentage of Accrued Interest Paid | 50.00% | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Minimum Conversion Price | $ 0.583 | | | | | | | | | | | | | | | |
January 2020 Notes [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | |
Debt Instrument, Face Amount | $ 3,037,354 | | | | | | | | | | | | | | | |
Deerfield Facility Agreement [Member] | | | | | | | | | | | | | | | | |
Line of Credit Facility, Maximum Borrowing Capacity | | | | | | | | $ 60,000,000 | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | $ 5.85 | | | | | | | | | | | | | |
Line of Credit Facility, Interest Rate at Period End | | | | 6.75% | | | | 9.75% | | | 6.75% | | | | | 6.75% |
Debt Instrument, Interest Rate, Stated Percentage | | 6.75% | | | | | | | | 6.75% | | 6.75% | | 6.75% | 9.75% | |
Convertible Notes Payable, Current | | $ 6,980,824 | | | | | | | | $ 6,980,824 | | $ 6,980,824 | | $ 6,980,824 | | |
Debt Covenant, Debt Financing Restriction | | | | | | | | $ 750,000 | | | | | | | | |
Reimbursement of Debt Holders | | | | $ 150,000 | | | | | | | $ 150,000 | | | | | |
Change in Fair Value of Embedded Conversion Feature | | | | | | | | | | | $ 2,300,000 | | | | | |
Debt Instrument, Convertible, Minimum Conversion Price | | | $ 0.60 | | | | | | | | | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Warrant [Member] | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | | | | | | | | $ 0.78 | | | | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Warrant [Member] | IPO [Member] | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | | | | | 1,923,077 | | | | | | | | |
Deerfield Facility Agreement [Member] | Series D Redeemable Convertible Preferred Stock Reclassified to Common Stock [Member] | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued | | | | | | | | | 256,410 | | | | | | | |
Deerfield Facility Agreement [Member] | Series D Redeemable Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | |
Own-share Lending Arrangement, Shares, Issued | | | | | | | | 1,923,077 | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | | | | | 14,423,076 | | | | | | | | |
Deerfield Facility Agreement [Member] | Term Notes [Member] | | | | | | | | | | | | | | | | |
Proceeds from Secured Notes Payable | | | | | | | | $ 15,000,000 | | | | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Convertible Notes [Member] | | | | | | | | | | | | | | | | |
Proceeds from Secured Notes Payable | | | | | | | | $ 10,000,000 | | | | | | | | |
Debt Instrument, Convertible, Conversion Price | | | | | | | | $ 5.85 | | | | | | | | |