Percentage points added to the reference rate to compute the variable rate on the debt instrument.

No definition available.

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- Definition

Face (par) amount of debt instrument at time of issuance.

+ References

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- Definition

Contractual interest rate for funds borrowed, under the debt agreement.

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- Definition

Amount of payment greater than the preceding installment payments to be paid at final maturity date of debt.

+ References

No definition available.

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- Definition

Maximum borrowing capacity under the credit facility without consideration of any current restrictions on the amount that could be borrowed or the amounts currently outstanding under the facility.

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- Definition

Amount, after unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but not limited to, notes payable, bonds payable, debentures, mortgage loans and commercial paper. Excludes capital lease obligations.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Weighted average interest rate of long-term debt outstanding calculated over time.

+ References

No definition available.

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- Definition

The cash outflow for debt initially having maturity due after one year or beyond the normal operating cycle, if longer.

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- Definition

Maximum borrowing capacity of debt agreement.

+ References

No definition available.

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- Definition

The amount available under the revolving line of credit for failure to maintain the revenue level requirement to be excluded under the debt instrument covenant.

+ References

No definition available.

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- Definition

The amount of prepayment premium under the debt instrument.

+ References

No definition available.

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Note 7 - Debt (Details Textual) - USD ($)		1 Months Ended			9 Months Ended
Note 7 - Debt (Details Textual) - USD ($)	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%