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Consolidated Statements of Stockholders' Equity (Parentheticals) - shares shares in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Common Stock [Member] |  |  |
Exercise of stock options, shares (in shares) | 283 | 1,106 | 609
Employee stock purchase plan sales, shares (in shares) | 115 | 92 | 95
Issuance of common stock, shares (in shares) | 43,621 | 10,455 | 23,925
Warrants issued (in shares) | 11,765 |  |

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