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Note 7 - Debt (Details Textual) - USD ($) |  | 1 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Nov. 03, 2017 | Aug. 31, 2020 | May 31, 2019 | Jan. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2022 | Dec. 31, 2019
Repayments of Long-term Debt, Total |  |  |  |  | $ 100,000 | $ 24,900,000 |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] |  |  |  |  |  |  |  |
Debt Agreement, Maximum Borrowing Capacity | $ 35,000,000.0 |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  | 0 |  |  | $ 100,000
Debt Instrument, Covenant, Revenue Level Exception, Amount Available Under Revolving Line of Credit | 40,000,000.0 |  |  |  |  |  |  |
Long-term Debt, Total |  |  |  |  | $ 756,000 |  |  | $ 694,000
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Forecast [Member] |  |  |  |  |  |  |  |
Long-term Debt, Total |  |  |  |  |  |  | $ 1,200,000 |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Revolving Credit Facility [Member] |  |  |  |  |  |  |  |
Line of Credit Facility, Maximum Borrowing Capacity | $ 10,000,000.0 |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage | 4.70% |  |  |  |  |  |  |
Long-term Debt, Weighted Average Interest Rate, over Time |  |  |  |  | 5.50% |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Revolving Credit Facility [Member] | London Interbank Offered Rate (LIBOR) [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate | 3.50% |  |  |  |  |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Term Loan Advance [Member] |  |  |  |  |  |  |  |
Debt Instrument, Face Amount | $ 25,000,000.0 |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage | 5.43% |  |  |  |  |  |  |
Repayments of Long-term Debt, Total |  | $ 100,000 | $ 12,400,000 | $ 12,500,000 |  |  |  |
Debt Instrument, Periodic Payment Terms, Balloon Payment to be Paid | $ 1,200,000 |  |  |  |  |  |  |
Long-term Debt, Total |  |  |  |  | $ 1 |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Term Loan Advance [Member] | Prepayment Made Prior to November 3, 2018 [Member] |  |  |  |  |  |  |  |
Debt Instrument, Prepayment Premium | 750,000 |  |  |  |  |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Term Loan Advance [Member] | Prepayment Made After November 3, 2018 and Before November 3, 2019 [Member] |  |  |  |  |  |  |  |
Debt Instrument, Prepayment Premium | 500,000 |  |  |  |  |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Term Loan Advance [Member] | Prepayment Made After November 3, 2019 [Member] |  |  |  |  |  |  |  |
Debt Instrument, Prepayment Premium | $ 250,000 |  |  |  |  |  |  |
Loan and Security Agreement [Member] | Silicon Valley Bank [Member] | Term Loan Advance [Member] | London Interbank Offered Rate (LIBOR) [Member] |  |  |  |  |  |  |  |
Debt Instrument, Basis Spread on Variable Rate | 4.20% |  |  |  |  |  |  |

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