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Note 10 - Stockholders' Equity (Details Textual) - USD ($)								3 Months Ended		12 Months Ended
	Dec. 13, 2019	Apr. 18, 2019	Apr. 07, 2019	Dec. 14, 2018	Aug. 28, 2018	May 18, 2018	Mar. 28, 2018	Mar. 19, 2020	Jun. 30, 2018	Dec. 31, 2019	Dec. 31, 2018	May 30, 2019	Jun. 22, 2018	Dec. 31, 2017	May 05, 2017
Stock Issued During Period, Shares, New Issues							60,964
Proceeds from Issuance of Common Stock, Net							$ 1,213,000			$ 756,000	$ 6,629,000
Payments of Stock Issuance Costs						$ 679,000	$ 171,000
Class of Warrant or Right, Issued During Period										444,445	1,512,816
Class of Warrant or Right, Exercised During Period										435,264	269,167
Class of Warrant or Right, Outstanding										1,716,066	1,726,522			482,873
Shares Issued, Price Per Share							$ 22.70
Units Issued, Price per Unit						$ 6
Proceeds from Issuance or Sale of Equity, Total						$ 5,473,000
Proceeds from Issuance or Sale of Equity, Net						$ 4,792,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance										291,807	302,368
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross			800,000	214,000						11,450
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price			$ 0.65	$ 2.979						$ 4.38
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested, Number of Shares										300,000
Share-based Compensation Arrangements by Share-based Payment Award, Options, Subject to Approval of Amendment Plan				169,934
Share-based Payment Arrangement, Expense										$ 614,000	$ 652,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period										0	0
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value										$ 3.30	$ 3.20
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value										$ 428,000	$ 633,000
Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period				4 years
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount										$ 1,051,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition										3 years
Amended 2016 Plan [Member
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized												3,925,000	1,325,000		600,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant										103,803
Plan 2012 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized										2,500
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant										234
Plan 2012 [Member] \| Share-based Payment Arrangement, Option [Member]
Options Prices In Terms Of Fair Market Value										100.00%
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period										10 years
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period										1 year
2006 Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance										3,865
Equity Incentive Plan 2017 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized										1,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant										20,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross										280,000
Units [Member]
Number of Units Issued						647,501
Convertible Units, Number of Common Shares Called by Each Unit						1
Convertible Units, Number of Common Warrants Called by Each Unit						1
Pre-funded Units [member]
Number of Units Issued						269,167
Convertible Units, Number of Common Warrants Called by Each Unit						1
Convertible Units, Number of Pre-funded Warrants Called by Each Unit						1
April 2019 Pre-funded Warrants [Member]
Class of Warrant or Right, Issued During Period		444,445
Warrants Issued, Price Per Warrant		$ 1.70
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right		1
Class of Warrant or Right, Exercise Price of Warrants or Rights		$ 0.10
Proceeds from Issuance of Warrants		$ 756,000
Class of Warrant or Right, Exercised During Period										120,000
Class of Warrant or Right, Outstanding										324,445
Common Warrants [Member]
Class of Warrant or Right, Exercise Price of Warrants or Rights						$ 6
Warrants and Rights Outstanding, Term						5 years
Number of Units Exercised									269,167
Common Warrants [Member] \| Units [Member]
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right						1
Common Warrants [Member] \| Pre-funded Units [member]
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right						1
Pre-funded Warrant [Member] \| Pre-funded Units [member]
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right						1
Warrants Issused in Private Placement [Member]
Class of Warrant or Right, Exercise Price of Warrants or Rights							$ 26.80
Warrants and Rights Outstanding, Term							5 years 182 days
Class of Warrant or Right, Number of Securities Called by Warrants or Rights							30,482
At The Market Offering Agreement [Member]
Maximum Offering Price for Issuance of Common Stock	$ 4,400,000
Commission as Percentage of Gross Proceeds	3.00%
At The Market Offering Agreement [Member] \| Subsequent Event [Member]
Stock Issued During Period, Shares, New Issues								50,746
Proceeds from Issuance of Common Stock								$ 280,000
Shares Issued, Average Price Per Share								$ 5.44
Proceeds from Issuance of Common Stock, Net								$ 113,000
Payments of Stock Issuance Costs								$ 167,000
Private Placement [Member]
Stock Issued During Period, Shares, New Issues					100,000
Payments of Stock Issuance Costs					$ 61,000
Class of Warrant or Right, Issued During Period					296,500
Warrants Issued, Price Per Warrant					$ 1.70
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right					1
Class of Warrant or Right, Exercise Price of Warrants or Rights					$ 0.10
Class of Warrant or Right, Exercised During Period										296,500
Shares Issued, Price Per Share					$ 1.80
Proceeds from Issuance of Private Placement, Net					$ 623,000