Note 9 - Stockholders' Equity - Shares of Common Stock Reserved for Issuance (Details) - shares	Sep. 30, 2021	Dec. 31, 2020
Common stock reserved for issuance (in shares)	16,348,934	9,288,870
Options Issued and Outstanding [Member]
Common stock reserved for issuance (in shares)	9,553,758	6,813,033
Options Available for Future Grants [Member]
Common stock reserved for issuance (in shares)	6,562,742	1,230,863
Common Warrants [Member]
Common stock reserved for issuance (in shares)	232,434	1,244,974