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Note 2 - Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 1 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Dec. 31, 2019 | Dec. 31, 2014 | Aug. 31, 2013 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2019
Share-based Payment Arrangement, Expense |  |  |  | $ 8,907 | $ 14,031 |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  | 21,884 |  |
Employee Service Share-based Compensation Nonvested Awards Compensation Cost Expected to be Recognized For Remainder of Fiscal Year |  |  |  | 2,708 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Expected to be Recognized Next Year |  |  |  | 8,461 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Expected to be Recognized Year Two |  |  |  | 6,983 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Expected to be Recognized Year Three |  |  |  | 3,137 |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Expected to be Recognized Year Four |  |  |  | 595 |  |
Incentive Plan [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 7,492 | $ 13,635 |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) | 968,000 |  |  | 11,420,000 |  | 968,000
Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | $ 3.35 | $ 4.57 |
Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] | Maximum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Year) |  |  |  | 10 years |  |
Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] | Vest 25% Each Year Until Fully Vested [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 25.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 4 years |  |
Incentive Plan [Member] | Performance Shares [Member] | December 2014 [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  |  |  | $ 4,998
Incentive Plan [Member] | Performance Shares [Member] | December 2019 [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 214 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested, Number of Shares (in shares) |  |  |  | 0 |  |
Incentive Plan [Member] | Performance Shares [Member] | Vest Upon Successful Completion of Specific Development Milestones [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 315,000 | 1,250,000 | 1,032,000 |  |  |
Incentive Plan [Member] | Performance Shares [Member] | Vest Upon Successful Completion of Specific Development Milestones [Member] | August 2013 [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 75.00% |  |
Incentive Plan [Member] | Performance Shares [Member] | Vest Upon Successful Completion of Specific Development Milestones [Member] | December 2014 [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 85.00% |  |
Inducement Plan [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 1,053 | $ 164 |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 4 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 10 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) | 171,000 |  |  | 888,000 |  | 171,000
Inducement Plan [Member] | Vest 25% Each Year Until Fully Vested [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 25.00% |  |
Inducement Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | $ 2.41 | $ 2.72 |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate |  |  |  | 0.00% |  |
Employee Stock Purchase Plan [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 362 | $ 232 |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  | 4,475,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  | 2,873,000 |  |
Percentage of Salary to Purchase Common Stock, Maximum |  |  |  | 15.00% |  |
Percentage of Common Stock Shares, Beginning |  |  |  | 85.00% |  |
Percentage of Common Stock Shares, Ending |  |  |  | 85.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee (in shares) |  |  |  | 3,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee, Amount |  |  |  | $ 25 |  |
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares) |  |  |  | 246 |  |

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