Note G - Debt Obligations (Details Textual) - USD ($) | Feb. 08, 2021 | Jan. 12, 2021 | Jan. 01, 2021 | Apr. 23, 2020 | Jan. 13, 2020 | Dec. 18, 2019 | Sep. 03, 2019 | Oct. 05, 2018 | Jun. 11, 2018 | Feb. 09, 2016 | Jun. 02, 2014 | Sep. 30, 2019 | Jun. 30, 2018 | Sep. 03, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2020 | Dec. 31, 2020 | Mar. 11, 2021 | Jan. 26, 2021 | Jan. 11, 2021 | Sep. 02, 2019 | Jun. 30, 2016 |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | | | | | | | | | 1,777,437 | | | | | | | | |
Convertible Preferred Stock, Conversion Restriction, Percentage of Common Stock | | | | | | | 4.985% | | | | | | | 4.985% | | | | | | | | | |
Interest Paid, Excluding Capitalized Interest, Operating Activities | | | | | | | | | | | | | | | $ 78,000 | $ 5,362,000 | | | | | | | |
Debt Instrument, Convertible, Minimum Conversion Price (in dollars per share) | | | | | | | | | | | | | | | | $ 9.328 | | | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | 68,243,000 | $ 80,199,000 | | $ 68,243,000 | | | | | |
Long-term Debt, Total | | | | | | | | | | | | | | | 67,658,000 | 77,343,000 | | 67,658,000 | | | | | |
Proceeds from Issuance of Long-term Debt, Total | | | | | | | | | | | | | | | 781,000 | | | | | | | | |
Loans Payable, Current, Total | | | | | | | | | | | | | | | 390,000 | | | 390,000 | | | | | |
Loans Payable, Noncurrent, Total | | | | | | | | | | | | | | | 391,000 | | | 391,000 | | | | | |
Convertible Notes Payable, Noncurrent | | | | | | | | | | | | | | | $ 67,658,000 | $ 77,343,000 | | $ 67,658,000 | | | | | |
Subsequent Event [Member] | Reclassification from Current to Noncurrent [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Convertible Notes Payable, Current | | | | | | | | | | | | | | | | | | | $ (68,200,000) | | | | |
Convertible Notes Payable, Noncurrent | | | | | | | | | | | | | | | | | | | $ 68,200,000 | | | | |
Series A Preferred Stock Converted Into Common Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued (in shares) | | | | | | | | | | | | | | | | 69,521 | | 199,519 | | | | | |
Conversion of Stock, Shares Converted (in shares) | | | | | | | | | | | | | | | | | | 9,577 | | | | | |
Series B-1 Preferred Convertible Stock Converted to Common Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued (in shares) | | | | | | | | | | | | | | | | 103,749 | | | | | | | |
Conversion of Stock, Shares Converted (in shares) | | | | | | | | | | | | | | | 103,749 | | 1,576 | | | | | | |
Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | | | | | | 1,576 | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | | | | | | | | $ 0.0001 | | | | | | | | | | | | | | | |
Preferred Stock, Aggregate Stated Value Per Share (in dollars per share) | | | | | | | | 1,000 | | | | | | | | | | | | | | | |
Convertible Preferred Stock, Conversion Price (in dollars per share) | | | | | | | | $ 3 | | | | | | | $ 48 | | | $ 48 | | | | | |
Convertible Preferred Stock, Shares Issuable Upon Conversion (in shares) | | | | | | | | 3,192,333 | | | | | | | 199,519 | | | 199,519 | | | | | |
Conversion Of Stock Shares Issuable If Converted (in shares) | | | | | | | | 3,192,333 | | | | | | | 199,519 | | | 199,519 | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | | | | | 0 | | | 0 | | | | | |
Series B-1 Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | | | | | | | | | | | | | | | $ 15.1904 | | | $ 15.1904 | | | | | |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | | | | | | | $ 0.0001 | | | | | | | $ 0.0001 | 0.0001 | $ 0.0001 | | 0.0001 | | | | | |
Preferred Stock, Aggregate Stated Value Per Share (in dollars per share) | | | | | | | 1,000 | | | | | $ 1,000 | | 1,000 | | | | | | | | | |
Convertible Preferred Stock, Conversion Price (in dollars per share) | | | | | | | $ 0.9494 | | | | | $ 0.9494 | | $ 0.9494 | $ 15.1904 | | | $ 15.1904 | | | | | |
Convertible Preferred Stock, Shares Issuable Upon Conversion (in shares) | | | | | | | | | | | | | | | 103,749 | | | 103,749 | | | | | |
Conversion Of Stock Shares Issuable If Converted (in shares) | | | | | | | 1,659,996 | | | | | 1,659,996 | | 1,659,996 | 103,749 | | | 103,749 | | | | | |
Convertible Preferred Stock, Conversion Restriction, Percentage of Common Stock | | | | | | | | | | | | | | | 4.985% | | | 4.985% | | | | | |
Preferred Stock, Liquidation Preference Per Share (in dollars per share) | | | | | | | | | | | | | | | $ 0.0001 | | | $ 0.0001 | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | | | | | 0 | 0 | | 0 | | | | | |
Series B-2 Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | | | | | | | $ 0.0001 | | | | | | | $ 0.0001 | $ 0.0001 | $ 0.0001 | | $ 0.0001 | | | | | |
Preferred Stock, Aggregate Stated Value Per Share (in dollars per share) | | | | | | | 1,000 | | | | | | | 1,000 | | | | | | | | | |
Convertible Preferred Stock, Conversion Price (in dollars per share) | | | | | | | $ 0.9494 | | | | | | | $ 0.9494 | $ 15.1904 | | | $ 15.1904 | | | | | |
Convertible Preferred Stock, Shares Issuable Upon Conversion (in shares) | | | | | | | | | | | | | | | 1,777,437 | | | 1,777,437 | | | | | |
Conversion Of Stock Shares Issuable If Converted (in shares) | | | | | | | 28,439,015 | | | | | | | 28,439,015 | | | | | | | | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | | | | | 0 | 0 | | 0 | | | | | |
Series B Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Preferred Stock, Liquidation Preference Per Share (in dollars per share) | | | | | | | $ 0.0001 | | | | | | | $ 0.0001 | | | | | | | | | |
Conversion from Deerfield Convertible Note to Common Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | | | | $ 3,333,333 | | | | $ 3,333,333 | | | | | | | | | | |
Debt Conversion, Accrued Interest | | | | | | | | | $ 168,288 | | | | $ 168,288 | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | | | | | | | 37,410 | | | | | | | | | | |
Exchanged 2021 Notes for Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | | | $ 9,577,000 | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | | 9,577 | | | | | | | | | | | | | | | |
Debt Conversion, Option to Exchange Amount | | | | | | | $ 27,000,000 | | | | | | | $ 27,000,000 | | | | | | | | | |
2021NotesConvertedToSeriesB1PreferredStockMember | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | 1,576 | | | | | 93,742 | | | | | | | | | | | |
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 (in dollars per share) | | | | | | | $ 1,000 | | | | | | | $ 1,000 | | | | | | | | | |
Exchanged2021NotesForCommonStockMember | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | | | | | | | $ 0.9494 | | | | | | | $ 0.9494 | $ 15.1904 | | | $ 15.1904 | | | | | |
Conversion of December 2019 Notes into Common Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | | | | | | | | | | $ 17,100,000 | | | | | | | | |
December 2020 Exchange Agreement [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Original Debt, Amount | | $ 31,500,000 | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Warrants or Options Issued (in shares) | | 3,632,019 | | | | | | | | | | | | | | | | | | | | | |
December 2020 Exchange Agreement [Member] | Series B-2 Preferred Stock [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | 31,476.98412 | | | | | | | | | | | | | | | | | | | | | |
Deerfield Convertible Notes [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | | | | | | | | | | | | | | | | $ 93.60 | | | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | $ 7,464,000 | $ 6,981,000 | | $ 7,464,000 | | | | | |
2021 Notes [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | | | | | | | | | | $ 17.11 | | | | | $ 273.76 | | | $ 273.76 | | | | | |
Debt Conversion, Original Debt, Amount | | | | | | | | | | $ 1,000 | | | | | $ 1,000 | | | | | | | | |
Debt Conversion, Converted Instrument, Shares Issued (in shares) | | | | | | | | | | 58.4454 | | | | | 3.6528 | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | | | | | 5.50% | | | | | | | | | | | | | |
Debt Instrument, Face Amount | | | | | | | | | | $ 86,300,000 | | | | | | | | | | | | | |
Proceeds from Debt, Net of Issuance Costs | | | | | | | | | | 82,800,000 | | | | | | | | | | | | | |
Repayments of Long-term Debt, Total | | | | | | | | | | 18,600,000 | | | | | | | | | | | | | |
Debt Instrument, Sinking Fund Payment | | | | | | | | | | $ 0 | | | | | | | | | | | | | |
Debt Instrument Repurchase Price Equal to Percentage of Principal Amount | | | | | | | | | | 100.00% | | | | | | | | | | | | | |
Debt Instrument, Cancellation of Debt, Amount | | | | | $ 3,037,354 | $ 71,418,011 | | | | | | | | | | | | | | | | | |
Interest Paid, Excluding Capitalized Interest, Operating Activities | | | | | $ 37,354 | $ 745,011 | | | | | | | | | | | | | | | | | |
Debt Instrument, Percentage of Accrued Interest Paid | | | | | | 50.00% | | | | | | | | | | | | | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | | $ 3,000,000 | | | | | | | |
The 2019 Notes [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Conversion Price (in dollars per share) | | | | | $ 5.85 | $ 17.11 | | | | | | | | | $ 93.60 | $ 273.76 | | $ 93.60 | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | | | | | 6.75% | | | | | | | | | | | | | | | | | |
Debt Instrument, Face Amount | | | | | | $ 71,418,011 | | | | | | | | | | | | | | | | | |
Debt Instrument, Percentage of Accrued Interest Paid | | | | | 50.00% | | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Number of Equity Instruments | | | | | | 4,174,051 | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Number of Shares Issuable Upon Conversion (in shares) | | | | | | | | | | | | | | | | 260,876 | | | | | | | |
Debt Instrument, Convertible, Minimum Conversion Price (in dollars per share) | | | | | $ 0.583 | | | | | | | | | | | $ 0.38 | | | | | | | |
Debt Instrument, Convertible, Conversion Restriction Percentage of Common Stock | | | | | | 4.985% | | | | | | | | | | | | | | | | | |
Beneficial Ownership, Cap Limit, Percentage | | | | | | 19.985% | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Floor Price (in dollars per share) | | | | | | | | | | | | | | | $ 9.328 | | | $ 9.328 | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | $ 57,593,000 | $ 70,218,000 | | $ 57,593,000 | | | | | |
January 2020 Note [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Face Amount | | | | | $ 3,037,354 | | | | | | | | | | | | | | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | 3,186,000 | | | 3,186,000 | | | | | |
The December 2020 Exchange Agreement [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Convertible Notes Payable, Current | | | | | | | | | | | | | | | | | | | | | $ 7,600,000 | | |
Repayments of Debt | | | $ 30,300,000 | | | | | | | | | | | | | | | | | | | | |
The December 2019 and January 2020 Notes [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | 60,800,000 | | | 60,800,000 | | | | | |
The Facility Notes [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Long-term Debt, Total | | | | | | | | | | | | | | | 69,400,000 | | | 69,400,000 | | | | | |
The Facility Notes [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Debt Instrument, Interest Rate, Stated Percentage | | 6.75% | | | | | | | | | | | | | | | | | | | | | |
Repayments of Long-term Debt, Total | | $ 30,300,000 | | | | | | | | | | | | | | | | | | | | | |
Long-term Debt, Total | | $ 7,600,000 | | | | | | | | | | | | | | | | | | | | | |
Paycheck Protection Program CARES Act [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Proceeds from Issuance of Long-term Debt, Total | | | | $ 800,000 | | | | | | | | | | | | | | | | | | | |
Loans Payable, Current, Total | | | | | | | | | | | | | | | 400,000 | | | 400,000 | | | | | |
Loans Payable, Noncurrent, Total | | | | | | | | | | | | | | | 400,000 | | | 400,000 | | | | | |
Deerfield Facility Agreement [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Line of Credit Facility, Maximum Borrowing Capacity | | | | | | | | | | | $ 60,000,000 | | | | | | | | | | | | |
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% | | | | | | | | | | 9.75% | |
Convertible Notes Payable, Current | | | | | | | | | | | | | | | $ 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 (in dollars per share) | | | | | | $ 0.60 | | | | | | | | | | | | | | | | | |
Conversion of Stock, Maximum Shares Issued (in shares) | | | | | | 28,439,015 | | | | | | | | | | | | | | | | | |
Debt Instrument, Convertible, Optional Conversion Feature, Exchange Price (in dollars per share) | | | | | | | | | | | | | | | $ 9.60 | | | $ 9.60 | | | | | |
Debt Instrument, Convertible Optional Conversion Feature Shares Issuable Upon Exchange (in shares) | | | | | | | | | | | | | | | 1,777,437 | | | 1,777,437 | | | | | |
Long-term Debt, Gross | | | | | | | | | | | | | | | $ 7,500,000 | | | $ 7,500,000 | | | | | |
Deerfield Facility Agreement [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Repayments of Long-term Debt, Total | $ 8,000,000 | | | | | | | | | | | | | | | | | | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Warrant [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | | | | | | | | | | | $ 0.78 | | | | | | | | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Warrant [Member] | IPO [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | | | | | | 1,923,077 | | | | | | | | | | | | |
Deerfield Facility Agreement [Member] | Series D Redeemable Convertible Preferred Stock Reclassified to Common Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued (in shares) | | | | | | | | | | | | | | | 256,410 | | | | | | | | |
Deerfield Facility Agreement [Member] | Common Stock Shares Reclassified Due to Reverse Stock Split [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Issued (in shares) | | | | | | | | | | | | | | | 16,025 | | | | | | | | |
Deerfield Facility Agreement [Member] | Series D Redeemable Convertible Preferred Stock [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Own-share Lending Arrangement, Shares, Issued (in shares) | | | | | | | | | | | 1,923,077 | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | | | | | | 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 (in dollars per share) | | | | | | | | | | | $ 5.85 | | | | $ 93.60 | | | $ 93.60 | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | | | | | | | | | | 120,192 | | | 120,192 | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | | | | | | | | | | | $ 5.85 | | | | $ 93.60 | | | $ 93.60 | | | | | |
Deerfield Facility Agreement [Member] | Deerfield Convertible Notes [Member] | Subsequent Event [Member] | | | | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | | | | | | | | | | | | | | | | | | | | $ 46.25 | | | |