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Note 5 - Debt (Details Textual) - USD ($)
12 Months Ended
Aug. 09, 2017
Dec. 31, 2019
Dec. 31, 2018
Jun. 30, 2017
Class of Warrant or Right, Number of Securities Called by Warrants or Rights       2,646,091
Class of Warrant or Right, Exercise Price of Warrants or Rights       $ 7.50
Interest Expense, Debt, Total   $ 994,979 $ 1,145,761  
Warrants Issued in Connection with Term Loan Facility [Member]        
Class of Warrant or Right, Number of Securities Called by Warrants or Rights 58,502      
Class of Warrant or Right, Exercise Price of Warrants or Rights $ 6.41      
Class of Warrant or Right, Term 10 years      
Warrants and Rights Outstanding $ 304,201      
Term Loan Facility [Member] | Silicon Valley Bank (SVB) [Member]        
Debt Instrument, Face Amount 7,500,000 4,375,000 7,500,000  
Debt Instrument, Unused Borrowing Capacity, Amount $ 7,500,000      
Number of Monthly Interest Only Payments Installments 18      
Number of Monthly Installments 24      
Debt Instrument, Prepayment Fee, Within One Year, Percentage 3.00%      
Debt Instrument, Prepayment Fee, During Year Two, Percentage 2.00%      
Debt Instrument, Prepayment Fee, After Year Two, Percentage 1.00%      
Debt Instrument, Final Payment Fee, Percentage 8.00%      
Debt Instrument, Default Interest Rate Percent Above Effective Percentage 5.00%      
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net, Current   91,879 215,291  
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net, Noncurrent   2,735 94,615  
Interest Expense, Debt, Total   $ 1,000,000 $ 1,100,000  
Term Loan Facility [Member] | Silicon Valley Bank (SVB) [Member] | Prime Rate [Member]        
Debt Instrument, Basis Spread on Variable Rate 4.00%      
Debt Instrument, Interest Rate, Effective Percentage   8.80%