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Note 7 - Borrowings (Details Textual) - USD ($)
1 Months Ended 12 Months Ended
Aug. 10, 2022
Apr. 23, 2020
Feb. 14, 2018
Apr. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Jun. 15, 2016
Sep. 22, 2015
Gain (Loss) on Extinguishment of Debt, Total         $ (0) $ 2,353,000    
Interest Expense, Total         1,665,000 1,648,000    
Paycheck Protection Program CARES Act [Member]                
Proceeds from Issuance of Long-Term Debt, Total   $ 2,300,000            
Debt Instrument Interest Forgiven       $ 23,000        
Interest Expense, Total         7,000      
Paycheck Protection Program CARES Act [Member] | Other Nonoperating Income (Expense) [Member]                
Gain (Loss) on Extinguishment of Debt, Total       $ 2,400,000        
CRG [Member] | Loan Agreement [Member]                
Debt Agreement, Maximum Borrowing Capacity               $ 50,000,000
Debt Instrument, Covenant Compliance, Minimum Liquidity Requirement     $ 3,500,000          
Debt Instrument, Covenant Compliance, Target Minimum Revenue, Past Twelve Months $ 8,000,000              
Debt Instrument, Covenant Compliance Target Minimum Revenue, Next Twelve Months 8,000,000              
Debt Instrument Covenant Compliance Target Minimum Revenue Second Year 10,000,000              
Debt Instrument Covenant Compliance Target Minimum Revenue Third Year 14,500,000              
Debt Instrument, Covenant Compliance Target Minimum Revenue Fourth Year $ 17,000,000              
Debt Instrument, Interest Rate, Stated Percentage 12.50%              
Debt Instrument, Periodic Payment, Total $ 1,900,000              
Long-Term Debt, Maturity, Year Four 7,500,000              
Long-Term Debt, Maturity, Year Five $ 7,500,000              
Debt Instrument, Redemption Initial Prepayment Premium Percentage 5.00%              
Debt Instrument, Redemption Annual Decline in Prepayment Premium Percentage 1.00%              
Debt Instrument, Financing Fee Percentage 1.50%              
Debt Instrument, Final Facility Fee Percentage 15.00%              
Debt Instrument, Covenant Compliance Cash and Certain Cash Equivalents Minimum $ 3,500,000              
Debt Instrument, Covenant Compliance Prepayment Multiplier for Revenue Shortfall 2.0              
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net, Total         249,000 332,000   1,300,000
Amortization of Debt Discount (Premium)         83,000 86,000    
Interest Expense, Debt, Total         $ 1,900,000 $ 1,600,000    
CRG [Member] | Loan Agreement [Member] | Series A Preferred Stock Purchase Agreement with CRG [Member]                
Debt Conversion, Original Debt, Amount     38,000,000          
Debt Conversion, Fees and Prepayment Premium Amount     $ 3,800,000          
CRG [Member] | Loan Agreement [Member] | First Tranche, Borrowed on September 22, 2015 [Member]                
Debt Instrument, Face Amount               $ 30,000,000
CRG [Member] | Loan Agreement [Member] | Second Tranche, Borrowed on June 15, 2016 [Member]                
Debt Instrument, Face Amount             $ 10,000,000