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Note 9 - Debt (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Jan. 10, 2020
Apr. 19, 2017
Jan. 31, 2018
Jul. 31, 2012
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jun. 30, 2017
Long-term Debt, Total         $ 749      
Convertible 2020 Notes [Member]                
Debt Instrument, Interest Rate, Stated Percentage   12.00%           12.00%
Debt Instrument, Interest Rate, Paid In Kind Percentage   2.00%            
Debt Instrument, Convertible, Conversion Price   $ 14.72            
Debt Instrument, Convertible, Conversion Ratio   0.0679            
Long-term Debt, Total         14,100      
Debt Instrument, Face Amount         14,053 $ 13,775 $ 16,657  
Beneficial Ownership Limitation, Percentage   4.99%            
Beneficial Ownership Limitation Percentage, Notice   61 days            
Beneficial Ownership Limitation After Notice, Percentage   9.99%            
The 2020/21 Notes [Member] | Subsequent Event [Member]                
Debt Instrument, Interest Rate, Stated Percentage 12.00%              
Debt Instrument, Convertible, Conversion Price $ 2.442              
Debt Instrument, Convertible, Conversion Ratio 0.4095              
Debt Instrument, Face Amount $ 14,400              
Debt Instrument, Indenture, Maturity Extension, Trigger, Percentage of Outstanding Shares 19.99%              
Debt Instrument, Indenture, Maturity Extension, Trigger, Outstanding Balance $ 7,000              
Debt Instrument, PIK Interest 4.00%              
Debt Instrument, Conversion Price Reduction, Discount Rate 10.00%              
The 2020/21 Option Note [Member] | Subsequent Event [Member]                
Maximum Principal Amount of Notes Issuable Upon Option Exercise $ 7,100              
Original Issue Discount 2.00%              
Notes Payable, Other Payables [Member]                
Long-term Debt, Total         749      
Debt Instrument, Periodic Payment, Total         $ 10      
Notes Payable, Other Payables [Member] | Minimum [Member]                
Debt Instrument, Interest Rate, Stated Percentage         3.90%      
Notes Payable, Other Payables [Member] | Maximum [Member]                
Debt Instrument, Interest Rate, Stated Percentage         4.00%      
Convertible 2022 Notes [Member]                
Debt Instrument, Face Amount       $ 45,000        
Debt Instrument, Interest Rate, Effective Percentage       7.50%        
Proceeds from Convertible Debt       $ 40,900        
Discount on Sale of Convertible Notes       2,700        
Debt Issuance Costs, Gross       $ 1,400        
Debt Conversion, Converted Instrument, Shares Issued     39,016          
Debt Conversion, Original Debt, Amount     $ 500