Note 9 - Stockholders' Equity (Details Textual) $ / shares in Units, $ in Millions | | | | | | | | 1 Months Ended | 12 Months Ended | | |
Jun. 20, 2023 shares | Jun. 22, 2022 shares | Jun. 25, 2021 shares | May 20, 2021 $ / shares shares | Apr. 01, 2020 shares | Jan. 30, 2019 shares | Jun. 01, 2016 USD ($) shares | Nov. 30, 2022 USD ($) | Aug. 31, 2021 USD ($) $ / shares | Nov. 30, 2019 USD ($) $ / shares shares | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 $ / shares | Jun. 30, 2016 $ / shares |
Common Stock, Shares Authorized (in shares) | | | | | | | | | | | 300,000,000 | 300,000,000 | | |
Common Stock, Shares, Issued (in shares) | | | | | | | | | | | 98,935,025 | 74,519,103 | | |
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares | | | | | | | | | | | $ 0.001 | $ 0.001 | | |
Preferred Stock, Shares Authorized (in shares) | | | | | | | | | | | 10,000,000 | 10,000,000 | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 15,617 | 15,617 | | |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares | | | | | | | | | | | $ 0.001 | $ 0.001 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 15,617 | 15,617 | | |
Common Stock, Shares, Outstanding (in shares) | | | | | | | | | | | 98,935,025 | 74,519,103 | | |
Jefferies L L C [Member] | | | | | | | | | | | | | | |
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares | | | | | | | | | $ 0.001 | | | | | |
Conversion of Common Stock into Series E Preferred Stock [Member] | | | | | | | | | | | | | | |
Conversion of Stock, Shares Converted (in shares) | | | | 5,000,000 | | | | | | | | | | |
Conversion of Stock, Shares Issued (in shares) | | | | 5,000 | | | | | | | | | | |
Employee Director And Consultant Equity Incentive Plan2020 [Member] | | | | | | | | | | | | | | |
Sale of Stock, Number of Shares Issued in Transaction (in shares) | | | | | 3,000 | | | | | | | | | |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) | 6,000,000 | 3,000,000 | 2,250,000 | | 3,000,000 | | | | | | | | | |
Securities Purchase Agreement [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | 4,963 | | | | | | | |
Partners' Capital Account, Units, Sold in Private Placement (in shares) | | | | | | | 8,188,804 | | | | | | | |
Shares Issued, Price Per Share (in dollars per share) | $ / shares | | | | | | | | | | | | | | $ 2.015 |
Proceeds from Issuance of Private Placement | $ | | | | | | | $ 16.5 | | | | | | | |
Proceeds From Issuance Of Private Placement Net | $ | | | | | | | $ 15.3 | | | | | | | |
Sale of Stock, Number of Shares Issued in Transaction (in shares) | | | | | | | 3,225,804 | | | | | | | |
At the Market Offering [Member] | Jefferies L L C [Member] | | | | | | | | | | | | | | |
Shares Issued, Price Per Share (in dollars per share) | $ / shares | | | | | | | | | | | $ 0.84 | | | |
Sale of Stock, Price Per Share (in dollars per share) | $ / shares | | | | | | | | | | | | | $ 3.46 | |
Sale of Stock, Authorized Amount | $ | | | | | | | | $ 75 | $ 50 | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | | 24,300,000 | 2,100,000 | | |
Stock Issued During Period, Value, Issued for Services | $ | | | | | | | | | | | $ 20.3 | $ 7.2 | | |
Common Stock [Member] | | | | | | | | | | | | | | |
Number Of Votes Per Share | | | | | | | | | | | 1 | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | | 24,261,000 | | | |
Common Stock [Member] | Stock Exchange Shares from Existing Shareholders [Member] | | | | | | | | | | | | | | |
Sale of Stock, Number of Shares Issued in Transaction (in shares) | | | | | | 5,000,000 | | | | | | | | |
Common Stock [Member] | At the Market Offering [Member] | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | | | 2,069,000 | | |
Preferred Stock [Member] | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | | 0 | | | |
Preferred Stock [Member] | Preferred Share Exchange [Member] | | | | | | | | | | | | | | |
Sale of Stock, Number of Shares Issued in Transaction (in shares) | | | | | | 5,000 | | | | | | | | |
Preferred Stock [Member] | At the Market Offering [Member] | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | | | 0 | | |
Series A Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 85 | 85 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 85 | 85 | | |
Series B Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 4,026 | 4,026 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 4,026 | 4,026 | | |
Series C Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 3,506 | 3,506 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 3,506 | 3,506 | | |
Series C Preferred Stock [Member] | Preferred Share Exchange [Member] | | | | | | | | | | | | | | |
Sale of Stock, Price Per Share (in dollars per share) | $ / shares | | | | | | | | | | $ 3.43 | | | | |
Debt Instrument, Convertible, Beneficial Conversion Feature | $ | | | | | | | | | | $ 2.8 | | | | |
Series C Preferred Stock [Member] | Private Placement [Member] | | | | | | | | | | | | | | |
Convertible Preferred Stock, Shares Issued upon Conversion (in shares) | | | | | | | | | | 0.001 | | | | |
Proceeds From Issuance Of Private Placement Net | $ | | | | | | | | | | $ 31 | | | | |
Sale of Stock, Number of Shares Issued in Transaction (in shares) | | | | | | | | | | 9,014,960 | | | | |
Sale of Stock, Price Per Share (in dollars per share) | $ / shares | | | | | | | | | | $ 3.55 | | | | |
Sale of Stock, Consideration Received Per Transaction | $ | | | | | | | | | | $ 32 | | | | |
Stock Issued During Period, Shares, Conversion of Units (in shares) | | | | | | | | | | 1 | | | | |
Sale of Stock, Number of Warrants, Per Unit (in shares) | | | | | | | | | | 1 | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares) | | | | | | | | | | 1 | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | $ / shares | | | | | | | | | | $ 7.1 | | | | |
Convertible Preferred Stock, Weighted Average Stock Price, Percent | | | | | | | | | | 3% | | | | |
Series C Preferred Stock [Member] | Private Placement [Member] | Maximum [Member] | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Term (Year) | | | | | | | | | | 5 years | | | | |
Series D Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 3,000 | 3,000 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 3,000 | 3,000 | | |
Series E Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Shares Issued (in shares) | | | | | | | | | | | 5,000 | 5,000 | | |
Preferred Stock, Shares Outstanding, Ending Balance (in shares) | | | | | | | | | | | 5,000 | 5,000 | | |
Series A Through E [Member] | Preferred Stock [Member] | | | | | | | | | | | | | | |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ / shares | | | | $ 0.001 | | | | | | | | | | |
Convertible Preferred Stock, Shares Issued upon Conversion (in shares) | | | | 1,000 | | | | | | | | | | |
Convertible Preferred Stock, Common Stock Ownership Limit, Percent | | | | 9.99% | | | | | | | | | | |
Convertible Preferred Stock, Beneficial Ownership Limitation, Percent | | | | 19.99% | | | | | | | | | | |
Convertible Preferred Stock, Beneficial Ownership Limitation, Notice Period Before Increase (Year) | | | | 61 years | | | | | | | | | | |