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Note 2 - Summary of Significant Accounting Policies (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2019	Jan. 01, 2019	Dec. 31, 2018
Accounts Receivable, Allowance for Credit Loss, Ending Balance	$ 0		$ 0
Operating Lease, Liability, Total	2,313,000
Operating Lease, Liability, Current	841,000
Operating Lease, Right-of-Use Asset	1,990,000
Deferred Rent Credit, Current			111,000
Retained Earnings (Accumulated Deficit), Ending Balance	$ (116,661,000)		$ (97,989,000)
Accounting Standards Update 2016-02 [Member]
Operating Lease, Liability, Total		$ 1,229,000
Operating Lease, Liability, Current		783,000
Operating Lease, Right-of-Use Asset		953,000
Deferred Rent Credit		(249,000)
Deferred Rent Credit, Current		(111,000)
Retained Earnings (Accumulated Deficit), Ending Balance		$ (27,000)
Minimum [Member]
Finite-Lived Intangible Asset, Useful Life	1 year 109 days
Maximum [Member]
Finite-Lived Intangible Asset, Useful Life	11 years 273 days
Developed Technology Rights [Member] \| Minimum [Member]
Finite-Lived Intangible Asset, Useful Life	1 year 109 days
Developed Technology Rights [Member] \| Maximum [Member]
Finite-Lived Intangible Asset, Useful Life	11 years 273 days
Intellectual Property [Member]
Finite-Lived Intangible Asset, Useful Life	20 years