Note 11 - Common Stock (Details Textual) | Aug. 16, 2019USD ($) | Feb. 12, 2018USD ($) | Nov. 08, 2017USD ($) | Dec. 31, 2019USD ($)$ / sharesshares | Nov. 30, 2019USD ($)$ / sharesshares | Oct. 31, 2019USD ($) | Aug. 31, 2019USD ($)shares | Mar. 31, 2019USD ($) | Dec. 31, 2018USD ($)$ / sharesshares | Jun. 30, 2018USD ($)$ / sharesshares | Feb. 28, 2018USD ($)shares | Nov. 30, 2019USD ($)$ / sharesshares | Dec. 31, 2019USD ($)$ / sharesshares | Dec. 31, 2018USD ($)$ / sharesshares | Nov. 26, 2019USD ($) | Nov. 12, 2019USD ($)$ / sharesshares | Sep. 30, 2019USD ($) | May 22, 2017USD ($)yr$ / sharesshares |
Shares Issued, Price Per Share | $ / shares | | | | | | | | | | $ 2.56 | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | 24,737,618 | | | | | 6,408 | | | | 24,737,618 | 6,408 | | | | |
Stock Issued During Period, Value, Restricted Stock Award, Gross | $ | | | | | | | | | | $ 256,000 | | | $ 74,000 | $ 336,000 | | | | |
Proceeds from Issuance of Common Stock | $ | | | | | | | | | | | | | 16,274,000 | 53,792,000 | | | | |
Stock Issued During Period, Shares, Restricted Stock Award, Gross | | | | | | | | | | 1,000 | | | | | | | | |
Amortization of Debt Discount (Premium) | $ | | | | | | | | | | | | | 352,000 | $ 325,000 | | | | |
Debt Instrument, Unamortized Discount, Total | $ | | | | $ 12,000 | | | | | | | | | $ 12,000 | | | | | |
Class of Warrants or Rights, Exercises in Period | | | | | | | | | | | | | 0 | 0 | | | | |
Class of Warrant or Right Number of Securities Called by Warrants or Rights Cancelled In Period | | | | | | | | | | | | | 0 | 0 | | | | |
Class Of Warrant Or Right, Number Of Securities Called By Warrants Or Rights Expired In Period | | | | | | | | | | | | | 1,272 | 0 | | | | |
Share-based Payment Arrangement, Expense | $ | | | | | | | | | | | | | $ 2,400,000 | $ 3,035,000 | | | | |
The 2017 Loan Agreement [Member] | | | | | | | | | | | | | | | | | | |
Debt Issuance Costs, Net, Total | $ | | | | | | | | | | | | | | | | | $ 790,000 | |
Restricted Stock [Member] | | | | | | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | | | 30,675 | | $ 7,740 | | $ 274 | | | | | | | | | | |
Stock Issued During Period, Value, Restricted Stock Award, Gross | $ | | | | $ 25,000 | | $ 25,000 | | $ 25,000 | | | | | | | | | | |
Series A Convertible Preferred Stock Into Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Shares Converted | | | | 3,021,237 | 600,000 | | | | | | | | | | | | | |
Series B Convertible Preferred Stock Into Common Stock [Member] | Minimum [Member] | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Conversion Rate | $ / shares | | | | | | | | | | | | | | | | $ 1.53 | | |
Series B Convertible Preferred Stock Into Common Stock [Member] | Maximum [Member] | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Conversion Rate | $ / shares | | | | | | | | | | | | | | | | $ 1.836 | | |
Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | | | |
Convertible Preferred Stock, Shares Issued upon Conversion | | | | 1 | 1 | | | | | | | 1 | 1 | | | | | |
Series B Preferred Stock [Member] | | | | | | | | | | | | | | | | | | |
Conversion of Stock, Conversion Rate | $ / shares | | | | $ 1.53 | | | | | | | | | $ 1.53 | | | | | |
Series A Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | $ 1.55 | $ 1.55 | | | | | | | $ 1.55 | $ 1.55 | | | | | |
Warrants and Rights Outstanding, Term | | | | | 1 year | | | | | | | 1 year | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | 7,419,353 | 7,419,353 | | | | | | | 7,419,353 | 7,419,353 | | | | | |
Warrants and Rights Outstanding | $ | | | | | $ 1,210,000 | | | | | | | $ 1,210,000 | | | | | | |
Series A Warrants [Member] | Measurement Input, Expected Dividend Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 0 | | | | | | | 0 | | | | | | |
Series A Warrants [Member] | Measurement Input, Price Volatility [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 91.1 | | | | | | | 91.1 | | | | | | |
Series A Warrants [Member] | Measurement Input, Risk Free Interest Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 1.59 | | | | | | | 1.59 | | | | | | |
Series B Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | $ 1.55 | $ 1.55 | | | | | | | $ 1.55 | $ 1.55 | | | | | |
Warrants and Rights Outstanding, Term | | | | | 5 years | | | | | | | 5 years | | | | | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | 7,419,353 | 7,419,353 | | | | | | | 7,419,353 | 7,419,353 | | | | | |
Warrants and Rights Outstanding | $ | | | | | $ 2,871,000 | | | | | | | $ 2,871,000 | | | | | | |
Series B Warrants [Member] | Measurement Input, Expected Dividend Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 0 | | | | | | | 0 | | | | | | |
Series B Warrants [Member] | Measurement Input, Price Volatility [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 68.8 | | | | | | | 68.8 | | | | | | |
Series B Warrants [Member] | Measurement Input, Risk Free Interest Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | 1.58 | | | | | | | 1.58 | | | | | | |
Series A and Series B Warrants [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding | $ | | | | | $ 4,081,000 | | | | | | | $ 4,081,000 | | | | | | |
Warrants Issued Upon Conversion of Term Loan with CRG [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | $ 1.84 | | | | | | | | | $ 1.84 | | | | | |
Warrants and Rights Outstanding, Term | | | | | | | | | | | | | | | | 5 years | | |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | 9,893,776 | | | | | | | | | 9,893,776 | | | 9,893,776 | | |
Warrants and Rights Outstanding | $ | | | | | | | | | | | | | | | $ 3,502,000 | $ 3,502,000 | | |
Class of Warrants or Rights, Outstanding, Percentage of Common Stock | | | | | | | | | | | | | | | | 15.00% | | |
Class of Warrants and Rights Outstanding, Exercise Price Percentage of Conversion Rate | | | | | | | | | | | | | | | | 120.00% | | |
Warrants Issued Upon Conversion of Term Loan with CRG [Member] | Measurement Input, Expected Dividend Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | 0 | | |
Warrants Issued Upon Conversion of Term Loan with CRG [Member] | Measurement Input, Price Volatility [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | 68.8 | | |
Warrants Issued Upon Conversion of Term Loan with CRG [Member] | Measurement Input, Risk Free Interest Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | 1.58 | | |
May 2017 Issuance Related to 2017 Loan Agreement [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | $ 950 | | | | | $ 950 | | | | $ 950 | $ 950 | | | | $ 950 |
Warrants and Rights Outstanding, Term | | | | | | | | | | | | | | | | | | 10 years |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | | | | 2,220 | | | | | 2,220 | | | | 2,220 | 2,220 | | | | 2,220 |
Warrants and Rights Outstanding | $ | | | | | | | | | | | | | | | | | | $ 940,000 |
Share-based Payment Arrangement, Expense | $ | | | | | | | | | | | | | $ 0 | $ 0 | | | | |
May 2017 Issuance Related to 2017 Loan Agreement [Member] | Measurement Input, Expected Dividend Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | | | 0 |
May 2017 Issuance Related to 2017 Loan Agreement [Member] | Measurement Input, Price Volatility [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | | | 0.551 |
May 2017 Issuance Related to 2017 Loan Agreement [Member] | Measurement Input, Risk Free Interest Rate [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | | | | | | | | | | | | | | | | | | 0.0225 |
May 2017 Issuance Related to 2017 Loan Agreement [Member] | Measurement Input, Expected Term [Member] | | | | | | | | | | | | | | | | | | |
Warrants and Rights Outstanding, Measurement Input | yr | | | | | | | | | | | | | | | | | | 10 |
Class A Units [Member] | Series A Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Warrants and Rights Outstanding, Term | | | | | 1 year | | | | | | | 1 year | | | | | | |
Class A Units [Member] | Series B Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Warrants and Rights Outstanding, Term | | | | | 5 years | | | | | | | 5 years | | | | | | |
Class B Units [Member] | Series A Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Warrants and Rights Outstanding, Term | | | | | 1 year | | | | | | | 1 year | | | | | | |
Class B Units [Member] | Series B Warrants [Member] | | | | | | | | | | | | | | | | | | |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right | | | | | 1 | | | | | | | 1 | | | | | | |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Warrants and Rights Outstanding, Term | | | | | 5 years | | | | | | | 5 years | | | | | | |
Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Value, Restricted Stock Award, Gross | $ | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, Restricted Stock Award, Gross | | | | | | | | | | | | | 1,169 | 1,285 | | | | |
November 2019 Offering [Member] | | | | | | | | | | | | | | | | | | |
Proceeds from Issuance or Sale of Equity, Total | $ | | | | | $ 11,500,000 | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | | | | $ 9,952,000 | | | | | | | | | | | | | |
November 2019 Offering [Member] | Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | 5,473,410 | | | | | | | | | | | | | |
November 2019 Offering [Member] | Series B Preferred Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | 5,473,410 | | | | | | |
November 2019 Offering [Member] | Class A Units [Member] | | | | | | | | | | | | | | | | | | |
Shares Issued, Price Per Share | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Common Shares Per Unit | | | | | 1 | | | | | | | 1 | | | | | | |
November 2019 Offering [Member] | Class B Units [Member] | | | | | | | | | | | | | | | | | | |
Shares Issued, Price Per Share | $ / shares | | | | | $ 1.55 | | | | | | | $ 1.55 | | | | | | |
Series A Convertible Preferred Stock Per Unit | | | | | 1 | | | | | | | 1 | | | | | | |
November 2019 Offering [Member] | Class B Units [Member] | Series A Preferred Stock [Member] | | | | | | | | | | | | | | | | | | |
Convertible Preferred Stock, Shares Issued upon Conversion | | | | | 1 | | | | | | | 1 | | | | | | |
November 2019 Offering [Member] | Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | 1,945,943 | | | | | | | 1,945,943 | 1,945,943 | | | | | |
August 2019 ATM Facility [Member] | | | | | | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | | | | | | | | | | | | $ 6,322,000 | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | | 1,004,171 | | | | | |
Aggregate Offering Price | $ | $ 6,760,000 | | | | | | $ 6,760,000 | | | | | | | | | | | |
August 2019 ATM Facility [Member] | Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | | 1,004,171 | | | | | |
November 2017 ATM Facility [Member] | | | | | | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | | | | $ 1,193,000 | | $ 1,318,000 | | | | | | | $ 1,193,000 | | | | |
Stock Issued During Period, Shares, New Issues | | | | | 2,771 | | 3,364 | | | | | | 0 | 2,771 | | | | |
Aggregate Offering Price | $ | | | $ 25,000,000 | | | | $ 25,000,000 | | | | | | | | | | | |
November 2017 ATM Facility [Member] | Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | | | 2,771 | | | | |
December 2018 Offering [Member] | | | | | | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | | | | | | | | $ 20,384,000 | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | 147,285 | | | | | | | | | |
Proceeds from Issuance of Common Stock | $ | | | | | | | | | $ 22,093,000 | | | | | | | | | |
December 2018 Offering [Member] | Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | | | 147,285 | | | | |
February 2018 Offering [Member] | | | | | | | | | | | | | | | | | | |
Proceeds From Issuance of Common Stock, Net | $ | | $ 32,214,000 | | | | | | | | | $ 32,214,000 | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | 115,000 | | | | | | | |
Stock Issued During Period, Value, Restricted Stock Award, Gross | $ | | 115,000 | | | | | | | | | | | | | | | | |
Proceeds from Issuance of Common Stock | $ | | $ 34,500,000 | | | | | | | | | $ 34,500,000 | | | | | | | |
February 2018 Offering [Member] | Common Stock [Member] | | | | | | | | | | | | | | | | | | |
Stock Issued During Period, Shares, New Issues | | | | | | | | | | | | | | 115,000 | | | | |