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Note 1 - The Company and Basis of Presentation (Details Textual) - USD ($)
 1 Months Ended 3 Months Ended 9 Months Ended 11 Months Ended
Jun. 09, 2020
Jun. 08, 2020
Apr. 20, 2020
Apr. 16, 2020
Nov. 26, 2019
Nov. 12, 2019
Sep. 30, 2020
Aug. 31, 2020
Jun. 30, 2020
May 31, 2020
Feb. 29, 2020
Nov. 30, 2019
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Nov. 30, 2019
Apr. 15, 2020
Dec. 31, 2019
Proceeds from Warrant Exercises                                 $ 8,407,000      
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)             17,710,876           17,710,876       17,710,876        
Payments of Warrant Issuance Costs     $ 333,000                           $ 333,000      
Retained Earnings (Accumulated Deficit), Ending Balance             $ (215,071,000)           $ (215,071,000)       (215,071,000)       $ (197,911,000) [1]
Cash and Cash Equivalents, at Carrying Value, Ending Balance             9,200,000           9,200,000       9,200,000       $ 13,308,000 [1]
Working Capital             $ 12,895,000           12,895,000       12,895,000        
Net Cash Provided by (Used in) Operating Activities, Total                                 (12,936,000) (25,862,000)      
Net Cash Provided by (Used in) Financing Activities, Total                         $ 3,600,000       $ 9,231,000 $ 6,273,000      
Conversion of Term Loan with CRG Into Stock and Warrants [Member]                                          
Debt Conversion, Original Debt, Amount           $ 28,981,000                              
Debt Conversion, Converted Instrument, Amount           $ 31,300,000                              
Conversion of Term Loan with CRG Into Series B Convertible Preferred Stock [Member]                                          
Debt Conversion, Converted Instrument, Shares Issued (in shares)         31,300 31,300                              
Series A Preferred Stock [Member]                                          
Stock Issued During Period, Shares, New Issues (in shares)                                 5,473,410        
Preferred Stock, Shares Outstanding, Ending Balance (in shares)             0   0       0 0     0       1,852,173
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)             1         1 1       1   1    
Series A Convertible Preferred Stock [Member]                                          
Preferred Stock, Shares Outstanding, Ending Balance (in shares)             0           0       0        
Series B Preferred Stock [Member]                                          
Preferred Stock, Shares Outstanding, Ending Balance (in shares)             34,735           34,735       34,735       31,678 [2]
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)             22,702,614           22,702,614       22,702,614        
Common Stock [Member]                                          
Stock Issued During Period, Shares, New Issues (in shares)                           525,000   1,004,171          
Series A and Series B Warrants [Member]                                          
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)                                       $ 0.61 $ 1.55
Proceeds from Warrant Exercises       $ 3,089,000                                  
Series A Warrants [Member]                                          
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)                       $ 1.55             $ 1.55    
Stock Issued During Period, Shares, Warrant Exercises (in shares)       4,820,584       1,117,020 27,601 4,099 1,026,240                    
Proceeds from Warrant Exercises               $ 681,000 $ 17,000 $ 2,500 $ 1,591,000                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)             423,809         7,419,353 423,809       423,809   7,419,353    
Warrants and Rights Outstanding, Term (Year)                       1 year             1 year    
Series A Warrants [Member] | Common Stock [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)                         1,117,020 4,852,284 1,026,240            
Series B Warrants [Member]                                          
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)                       $ 1.55             $ 1.55    
Stock Issued During Period, Shares, Warrant Exercises (in shares)       242,790     15,000 3,809,104 50,700   45,473                    
Proceeds from Warrant Exercises             $ 9,000 $ 2,324,000 $ 31,000   $ 70,000                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)             3,256,286         7,419,353 3,256,286       3,256,286   7,419,353    
Warrants and Rights Outstanding, Term (Year)                       5 years             5 years    
Series B Warrants [Member] | Common Stock [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)                         3,824,104 293,490 45,473            
Series A-2 Warrants [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)               892,300                 3,928,284        
Proceeds from Warrant Exercises               $ 569,000                          
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)     4,820,584       3,928,284           3,928,284       3,928,284        
Series A-2 Warrants [Member] | Common Stock [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)                         892,300                
Series B-2 Warrants [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)               38,900                 203,800        
Proceeds from Warrant Exercises               $ 25,000                          
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)     242,790       203,800           203,800       203,800        
Series B-2 Warrants [Member] | Common Stock [Member]                                          
Stock Issued During Period, Shares, Warrant Exercises (in shares)                         38,990                
Series A-2 and Series B-2 Warrants [Member]                                          
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)     $ 0.6371                                    
Warrants and Rights Outstanding, Term (Year)     5 years                                    
Warrants Issued Upon Conversion of Term Loan with CRG [Member]                                          
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)         9,893,776 9,893,776                              
Warrants and Rights Outstanding, Term (Year)           5 years                              
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)             9,893,776           9,893,776       9,893,776        
Purchase Agreement with LPC [Member]                                          
Maximum Amount of Shares Issuable $ 10,000,000 $ 10,000,000                                      
Stock Purchase Agreement Duration Period (Month) 2 years 180 days 2 years 180 days                                      
Stock Issued During Period, Shares, New Issues (in shares) 525,000                                        
Shares Issued, Price Per Share (in dollars per share) $ 0.65                                        
Maximum Number of Shares Issuable on Any Business Day Selected by The Company (in shares) 250,000                                        
Maximum Number of Shares Issuable on Any Business Day Selected by The Company in Certain Circumstances (in shares) 500,000                                        
November 2019 Offering [Member]                                          
Proceeds from Issuance or Sale of Equity, Total                       $ 11,500,000                  
Proceeds From Issuance of Common Stock, Net                       $ 9,922,000                  
November 2019 Offering [Member] | Series A Preferred Stock [Member]                                          
Stock Issued During Period, Shares, New Issues (in shares)                       5,473,410                  
November 2019 Offering [Member] | Series B Preferred Stock [Member]                                          
Stock Issued During Period, Shares, New Issues (in shares)                                     5,473,410    
November 2019 Offering [Member] | Common Stock [Member]                                          
Stock Issued During Period, Shares, New Issues (in shares)                       1,945,943             1,945,943    
[1] The condensed consolidated balance sheet as of December 31, 2019 has been derived from the audited consolidated financial statements as of that date.
[2] The condensed consolidated balance sheet as of December 31, 2019 has been derived from the audited consolidated financial statements as of that date.