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Note 10 - Loans Payable (Details Textual)
3 Months Ended 12 Months Ended
Nov. 06, 2018
USD ($)
Sep. 25, 2018
USD ($)
Oct. 04, 2016
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Jun. 30, 2013
USD ($)
ft²
Cost to Build Facility, Percentage             80.00%
Operating Lease, Right-of-Use Asset       $ 7,443,000  
Gain (Loss) on Extinguishment of Debt, Total         $ (2,105,000)  
MidCap Agreement [Member] | MidCap Financial [Member]              
Debt Agreement, Maximum Borrowing Capacity     $ 40,000,000        
Debt Agreement, Maximum Borrowing Capacity, Including Additional Increase     $ 60,000,000        
Debt Agreement, Final Commitment Fee Percentage     6.00%        
Payments for Loans $ 32,300,000            
Debt Instrument, Prepayment and Exit Fees $ 2,300,000 $ 2,300,000          
Gain (Loss) on Extinguishment of Debt, Total       $ (2,100,000)      
MidCap Agreement [Member] | MidCap Financial [Member] | Revolving Credit Facility [Member]              
Line of Credit Facility, Maximum Borrowing Capacity     $ 10,000,000        
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage     0.50%        
Line of Credit Facility, Early Termination, Commitment Fee Percentage, First Year     3.00%        
Line of Credit Facility, Early Termination, Commitment Fee Percentage, Second Year     2.00%        
Line of Credit Facility, Early Termination, Commitment Fee Percentage, Third Year and Thereafter     1.00%        
MidCap Agreement [Member] | MidCap Financial [Member] | London Interbank Offered Rate (LIBOR) [Member] | Revolving Credit Facility [Member]              
Debt Instrument, Basis Spread on Variable Rate     4.45%        
MidCap Agreement [Member] | MidCap Financial [Member] | Term Loan [Member]              
Long-term Debt, Total     $ 30,000,000        
Debt Instrument, Term     5 years        
Debt Instrument, Periodic Payment, Term     2 years        
Debt Instrument, Periodic Payment, Term, Potential Extension     4 years        
Debt Agreement, Additional Increase     $ 10,000,000        
Debt Agreement, Exit Fee, Percentage     6.00%        
MidCap Agreement [Member] | MidCap Financial [Member] | Term Loan [Member] | London Interbank Offered Rate (LIBOR) [Member]              
Debt Instrument, Basis Spread on Variable Rate     7.60%        
Marlborough, Massachusetts [Member]              
Area of Real Estate Property | ft²             14,500
Incentive from Lessor             $ 582,000
Operating Lease, Right-of-Use Asset         $ 159,000