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Note 1 - The Company and Basis of Presentation (Details Textual) - USD ($)
 1 Months Ended 2 Months Ended 9 Months Ended 12 Months Ended
Jul. 02, 2021
May 04, 2021
Mar. 31, 2021
Jan. 19, 2021
Jun. 09, 2020
Jun. 08, 2020
Apr. 20, 2020
Apr. 16, 2020
Apr. 15, 2020
Feb. 28, 2021
Sep. 30, 2020
Aug. 31, 2020
Jun. 30, 2020
May 31, 2020
Feb. 29, 2020
Mar. 31, 2021
Sep. 30, 2021
Dec. 31, 2021
Dec. 31, 2020
Jun. 23, 2021
May 03, 2021
Jan. 31, 2021
Jan. 18, 2021
Dec. 16, 2020
Dec. 15, 2020
Dec. 31, 2019
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)                                   $ 2,720.00 $ 2,720.00              
Fair Value Adjustment of Warrants                                   $ 373,000 $ 1,838,000              
Proceeds from Warrant Exercises                                   $ 179,000 $ 8,407,000              
Stock Issued During Period, Shares, Warrant Exercises (in shares)                                   52,760 1,209,000              
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   2 2              
Proceeds from Issuance of Common Stock                                   $ 25,122,000 $ 0              
Payments of Warrant Issuance Costs             $ 334,000                     (0) 334,000              
Retained Earnings (Accumulated Deficit), Ending Balance                                   (241,853,000) (219,826,000) [1]              
Cash and Cash Equivalents, at Carrying Value, Ending Balance                                   19,162,000 6,523,000 [1]              
Working Capital                                   17,705,000                
Net Cash Provided by (Used in) Financing Activities, Total                                   25,973,000 9,230,000              
Net Cash Provided by (Used in) Operating Activities, Total                                   $ (12,878,000) $ (15,234,000)              
Series B Preferred Stock [Member]                                                    
Proceeds from Warrant Exercises                   $ 136,000                                
Stock Issued During Period, Shares, Warrant Exercises (in shares)                   40,000                                
Preferred Stock, Shares Outstanding, Ending Balance (in shares)                                   40,504 35,819              
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)                                   2,647,320 2,341,111              
Preferred Stock, Shares Authorized (in shares)                                   10,000,000 10,000,000              
Preferred Stock, Par or Stated Value Per Share (in dollars per share)                                   $ 0.0001 $ 0.0001              
January 2021 Offering Warrants [Member]                                                    
Proceeds from Warrant Exercises                   $ 43,000                                
Stock Issued During Period, Shares, Warrant Exercises (in shares)                   12,760                                
Series B Warrants [Member]                                                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   285,632                
Series A-2 Warrants [Member]                                                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   392,830                
Series B-2 Warrants [Member]                                                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   20,380                
Series C Preferred Stock [Member]                                                    
Preferred Stock, Shares Outstanding, Ending Balance (in shares)     0                         0   0 0     0        
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)                                   1                
Preferred Stock, Shares Authorized (in shares)                                   10,000,000 10,000,000              
Preferred Stock, Par or Stated Value Per Share (in dollars per share)                                   $ 0.0001 $ 0.0001              
Series A Preferred Stock [Member]                                                    
Preferred Stock, Shares Outstanding, Ending Balance (in shares)                                   0           0    
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)                                   1                
Preferred Stock, Shares Authorized (in shares)                                                 547,345  
Preferred Stock, Par or Stated Value Per Share (in dollars per share)                                                 $ 0.0001  
Series A and Series B Warrants [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)       $ 3.40         $ 6.10                                 $ 15.50
Fair Value Adjustment of Warrants       $ 287,000         $ 1,838,000                                  
Proceeds from Warrant Exercises               $ 3,089,000                                    
Series B Warrants [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)       $ 3.40                                     $ 6.10      
Proceeds from Warrant Exercises                   $ 136,000 $ 9,000 $ 2,324,000 $ 31,000   $ 70,000                      
Stock Issued During Period, Shares, Warrant Exercises (in shares)               24,279   40,000 1,500 380,913 5,070   4,548                      
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   285,632                
Series A-2 and Series B-2 Warrants [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)       $ 3.40     $ 6.371                               $ 6.371      
Fair Value Adjustment of Warrants       $ 287,000                                            
Warrants and Rights Outstanding, Term (Year)             5 years                                      
Payments of Warrant Issuance Costs             $ 334,000                                      
Series B, A-2 and B-2 Common Stock Warrants [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)   $ 2.817                                     $ 3.40          
Fair Value Adjustment of Warrants   $ 86,000                                                
Warrants Issued in Connection with Class A Units [Member] | Class A Units [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)       $ 3.40                                            
Warrants Per Unit (in shares)       1                                            
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares)       1                                            
Warrants and Rights Outstanding, Term (Year)       5 years                                            
Warrants Issued in Connection with Class B Units [Member] | Class B Units [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)       $ 3.40                                            
Warrants Per Unit (in shares)       1                                            
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares)       1                                            
Warrants and Rights Outstanding, Term (Year)       5 years                                            
Warrants Issued in Connection with January 2021 Offering [Member]                                                    
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)                                           $ 3.40        
Proceeds from Warrant Exercises                               $ 43,000                    
Stock Issued During Period, Shares, Warrant Exercises (in shares)                               12,760                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)     8,104,880 8,117,640                       8,104,880   8,104,880       8,117,640        
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares)                                           1        
Series A Warrants [Member]                                                    
Proceeds from Warrant Exercises                       $ 681,000 $ 17,000 $ 2,000 $ 1,591,000                      
Stock Issued During Period, Shares, Warrant Exercises (in shares)               482,059       111,704 2,761 410 102,626                      
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)                                   0                
Series A-2 Warrants [Member]                                                    
Proceeds from Warrant Exercises                       $ 568,000                            
Stock Issued During Period, Shares, Warrant Exercises (in shares)                       89,230         392,830                  
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)             482,059                     392,830                
Series B-2 Warrants [Member]                                                    
Proceeds from Warrant Exercises                       $ 25,000                            
Stock Issued During Period, Shares, Warrant Exercises (in shares)                       3,899         20,380                  
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)             24,279                     20,380                
Universal Shelf Registration Statement [Member]                                                    
Universal Shelf Registration Statement, Proposed Maximum Securities Offering $ 75,000,000                                                  
Universal Shelf Registration Statement, Maximum Capacity                                   $ 75,000,000                
Stock Issued During Period, Shares, New Issues (in shares)                                   0                
Proceeds from Issuance or Sale of Equity, Total                                   $ 0                
Purchase Agreement with LPC [Member]                                                    
Stock Issued During Period, Shares, New Issues (in shares)   250,000     52,500                                          
Shares Issued, Price Per Share (in dollars per share)   $ 2.817     $ 6.50                                          
Maximum Amount of Shares Issuable           $ 10,000,000                                        
Stock Purchase Agreement Duration Period (Month)           30 months                                        
Stock Purchase Agreement, Maximum Issuable Shares (in shares)           301,762                                        
Stock Purchase Agreement, Maximum Issuable Shares, Percent of Outstanding Stock           19.99%                                        
Stock Purchase Agreement, Share Price Covenant Trigger (in dollars per share)           $ 6.46                                        
Proceeds from Issuance of Common Stock   $ 704,000     $ 341,000                                          
Payments of Stock Issuance Costs         $ 494,000                         70,000 $ 494,000              
Equity Facility, Remaining Financing Commitment                                   $ 9,000,000                
January 2021 Offering [Member]                                                    
Shares Issued, Price Per Share (in dollars per share)       $ 3.40                                            
Proceeds from Issuance or Sale of Equity, Total       $ 27,600,000                                            
Proceeds from Issuance or Sale of Equity, Net of Issuance Costs       $ 25,122,000                                            
January 2021 Offering [Member] | Class A Units [Member]                                                    
Shares Issued, Price Per Share (in dollars per share)       $ 3.40                                            
Units Issued, Shares (in shares)       4,607,940                                            
Common Shares Per Unit (in shares)       1                                            
Warrants Per Unit (in shares)       1                                            
January 2021 Offering [Member] | Class B Units [Member]                                                    
Shares Issued, Price Per Share (in dollars per share)       $ 3.40                                            
Units Issued, Shares (in shares)       2,450,880                                            
Common Shares Per Unit (in shares)       1                                            
Warrants Per Unit (in shares)       1                                            
Series C Convertible Preferred Stock Per Unit (in shares)       1                                            
January 2021 Offering [Member] | Series C Preferred Stock [Member]                                                    
Stock Issued During Period, Shares, New Issues (in shares)       2,450,880                                            
Convertible Preferred Stock, Shares Issued upon Conversion (in shares)     1                         1                    
Over-Allotment Option [Member]                                                    
Stock Issued During Period, Shares, New Issues (in shares)       1,058,820                                            
Over-Allotment Option [Member] | Warrants Issued in Connection with January 2021 Offering [Member]                                                    
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)       1,058,820                                            
First Amendment to the LPC Purchase Agreement [Member]                                                    
Stock Issued During Period, Shares, New Issues (in shares)   250,000                                                
Shares Issued, Price Per Share (in dollars per share)   $ 2.817                                                
Stock Purchase Agreement, Maximum Issuable Shares (in shares)     2,068,342                         2,068,342                    
Stock Purchase Agreement, Maximum Issuable Shares, Percent of Outstanding Stock     19.99%                         19.99%       20.00%            
Stock Purchase Agreement, Share Price Covenant Trigger (in dollars per share)     $ 2.99                         $ 2.99                    
Proceeds from Issuance of Common Stock   $ 704,000                                                
Payments of Stock Issuance Costs     $ 70,000                                              
[1] The condensed consolidated balance sheet as of December 31, 2020 has been derived from the audited consolidated financial statements as of that date.