Note 1 - Organization and Basis of Presentation (Details Textual) - USD ($) | Sep. 15, 2021 | Oct. 13, 2020 | Jul. 13, 2020 | Mar. 02, 2020 | Sep. 30, 2019 | Apr. 11, 2019 | Mar. 20, 2019 | Sep. 30, 2021 | Dec. 31, 2020 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2021 | Dec. 31, 2021 | Dec. 03, 2021 | Dec. 31, 2021 | Dec. 31, 2021 | Dec. 31, 2021 | Jun. 08, 2020 | Jun. 07, 2020 |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | 1,200,000 | | | | | | | | | | | | | |
Gross Proceeds from Issuance of Common Stock | | | | | | | $ 3,000,000 | | | | | | | | | | | | | |
Proceeds from Issuance of Common Stock | | | | | | | 2,500,000 | | | $ 0 | $ 9,175,000 | $ 2,540,000 | | | | | | | | |
Payments of Stock Issuance Costs | | | | | | | $ 320,000 | | | | | | | | | | | | | |
Proceeds from Warrant Exercises | | | | | | | | | | 1,849,000 | 25,951,000 | 180,000 | | | | | | | | |
Payments for Aggregate Commissions to Underwriters | | | | | | $ 750,000 | | | | | | | | | | | | | | |
Proceeds From Exercise of Pre-funded Warrants | | | | | | | | | | $ 0 | $ 0 | 1,226,000 | | | | | | | | |
Common Stock, Par or Stated Value Per Share (in dollars per share) | | | | | | | | | $ 0.0001 | $ 0.0001 | $ 0.0001 | | $ 0.0001 | $ 0.0001 | | $ 0.0001 | $ 0.0001 | $ 0.0001 | $ 0.0001 | $ 0.10 |
Common Stock, Shares Authorized (in shares) | | | | | | | | | 150,000,000 | 150,000,000 | 150,000,000 | | 150,000,000 | 150,000,000 | | 150,000,000 | 150,000,000 | 150,000,000 | 150,000,000 | 100,000,000 |
Stock Issued During Period, Value, New Issues | | | | | | | | | | | | 2,440,000 | | | | | | | | |
The April 2019 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues, Excluding Shares Sold to Underwriters (in shares) | | | | | | 925,455 | | | | | | | | | | | | | | |
Shares Issued, Price Per Share (in dollars per share) | | | | | | $ 1.10 | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Total | | | | | | $ 9,300,000 | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Net | | | | | | $ 8,100,000 | | | | | | | | | | | | | | |
The September 2019 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues, Excluding Shares Sold to Underwriters (in shares) | | | | | 26,124,828 | | | | | | | | | | | | | | | |
Shares Issued, Price Per Share (in dollars per share) | | | | | $ 0.30 | | | | | | | | | | | | | | | |
Pre-funded Warrant Price (in dollars per share) | | | | | 0.20 | | | | | | | | | | | | | | | |
Pre-funded Warrant, Accompanying Warrant, Amount Paid Per Share (in dollars per share) | | | | | $ 0.10 | | | | | | | | | | | | | | | |
Payments for Aggregate Commissions to Underwriters | | | | | $ 713,000 | | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Total | | | | | 8,700,000 | | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Net | | | | | $ 7,700,000 | | | | | | | | | | | | | | | |
The March 2020 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | 4,000,000 | | | | | | | | | | | | | | | | |
Payments of Stock Issuance Costs | | | | $ 775,000 | | | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Total | | | | 10,000,000 | | | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Net | | | | $ 9,200,000 | | | | | | | | | | | | | | | | |
ATM Program [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | 12,503,806 | | | | | | | | | | | | | | | | | |
Proceeds from Issuance of Common Stock | | | $ 97,000,000 | | | | | | | $ 122,210,000 | $ 101,934,000 | $ 0 | | | | | | | | |
Stock Issued During Period, Value, New Issues | | | $ 100,000,000 | | | | | | | | | | | | | | | | | |
Open Market Sale Agreement [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | 692,651 | | | | | | | | | | | |
Proceeds from Issuance of Common Stock | | | | | | | | | $ 4,900,000 | | | | | | | | | | | |
Payments of Stock Issuance Costs | | $ 300,000 | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Value, New Issues | | | | | | | | | $ 5,500,000 | | | | | | | | | | | |
Open Market Sale Agreement, Maximum Aggregate Offering Price | | $ 250,000,000 | | | | | | | | | | | | | | | | | | |
Open Market Sale Agreement, Sales Commission, Percentage | | 4.50% | | | | | | | | | | | | | | | | | | |
The October 2020 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | | | 13,239,839 | | | 13,932,490 | | | | | | | |
Proceeds from Issuance of Common Stock | | | | | | | | | | $ 127,900,000 | | | $ 133,400,000 | | | | | | | |
Proceeds from Issuance of Common Stock, Net | | | | | | | | | | $ 122,200,000 | | | $ 127,100,000 | | | | | | | |
The September 2021 ATM [Member] | | | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues (in shares) | | | | | | | | 0 | | | | | | | | | | | | |
Payments of Stock Issuance Costs | $ 200,000 | | | | | | | | | | | | | | | | | | | |
Open Market Sale Agreement, Maximum Aggregate Offering Price | $ 100,000,000 | | | | | | | | | | | | | | | | | | | |
Open Market Sale Agreement, Sales Commission, Percentage | 3.00% | | | | | | | | | | | | | | | | | | | |
Warrants in Connection with March 2019 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | | 84,000 | | | | | | | | | | | | | |
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) | | | | | | | $ 3.125 | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Term (Year) | | | | | | | 5 years | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | | | | $ 100,000 | | | | | | | | | | | | | |
Common Stock Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
Proceeds from Warrant Exercises | | | | | | | | | | | | | | | | | $ 200,000 | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | | | | 67,825 | 10,410,398 | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | | | | | $ 11,500,000 | | |
Warrants in Connection With the April 2019 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | 10,454,546 | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | | | $ 333,000 | | | | | | | | | | | | | | |
Class of Warrant Right, Number of Pre-funded Warrants Issued During Period (in shares) | | | | | | 8,165,455 | | | | | | | | | | | | | | |
Pre-funded Warrant Price (in dollars per share) | | | | | | $ 1 | | | | | | | | | | | | | | |
Pre-funded Warrant, Accompanying Warrant, Amount Paid Per Share (in dollars per share) | | | | | | $ 0.10 | | | | | | | | | | | | | | |
Warrants in Connection With the April 2019 Offering [Member] | Over-Allotment Option [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | | 1,363,636 | | | | | | | | | | | | | | |
Pre-funded Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares) | | | | | 1 | 1 | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | | | | | $ 0.10 | $ 0.10 | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | | | 4,100,000 | | 8,165,455 | | |
Class of Warrant Right, Number of Pre-funded Warrants Issued During Period (in shares) | | | | | 4,100,000 | | | | | | | | | | | | | | | |
Proceeds From Exercise of Pre-funded Warrants | | | | | | | | | | | | | | | | $ 400,000 | | $ 800,000 | | |
Common Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares) | | | | | 1 | 1 | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | | | | | $ 0.30 | $ 1.10 | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Term (Year) | | | | | 5 years | 5 years | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | | | 30,661,667 | | | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | | $ 9,200,000 | | | | | |
Underwriter Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
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) | | | | | | $ 1.375 | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | | | | | 609,849 | | |
Class of Warrant or Right, Issued During Period (in shares) | | | | | | 636,364 | | | | | | | | | | | | | | |
Class of Warrant or Right, Period to Expiration (Year) | | | | | | 5 years | | | | | | | | | | | | | | |
Class of Warrant or Right, Issued During Period, Fair Value | | | | | | $ 333,000 | | | | | | | | | | | | | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | | | | | $ 800,000 | | |
Warrants in Connection with the September 2019 Offering [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | 30,666,667 | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | | $ 497,000 | | | | | | | | | | | | | | | |
Warrants in Connection with the September 2019 Offering [Member] | Over-Allotment Option [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | | 4,000,000 | | | | | | | | | | | | | | | |
Underwriter Warrants, September 2019 [Member] | | | | | | | | | | | | | | | | | | | | |
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) | | | | | $ 0.375 | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | | $ 497,000 | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | | | 2,115,738 | | | | |
Class of Warrant or Right, Issued During Period (in shares) | | | | | 2,115,738 | | | | | | | | | | | | | | | |
Class of Warrant or Right, Period to Expiration (Year) | | | | | 5 years | | | | | | | | | | | | | | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | | | $ 800,000 | | | | |
The March 2020 Offering Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) | | | | 2,000,000 | | | | | | | | | | | | | | | | |
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) | | | | $ 2.50 | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Term (Year) | | | | 5 years | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | $ 453,000 | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | 1,970,850 | | | | | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | $ 4,900,000 | | | | | | |
The March 2020 Offering Placement Agent Warrants [Member] | | | | | | | | | | | | | | | | | | | | |
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) | | | | $ 3.125 | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | | | | $ 453,000 | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercised During Period (in shares) | | | | | | | | | | | | | | 179,468 | | | | | | |
Class of Warrant or Right, Issued During Period (in shares) | | | | 280,000 | | | | | | | | | | | | | | | | |
Proceeds from Exercise of Common Stock Warrants | | | | | | | | | | | | | | $ 600,000 | | | | | | |