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Note 1 - Significant Accounting Policies (Details Textual) - USD ($)
shares in Thousands, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Sep. 23, 2016
Mar. 09, 2011
Long-term Line of Credit, Total $ 26,893   $ 26,893   $ 41,289    
Restricted Cash and Cash Equivalents, Current, Total 2,213   2,213   1,551    
Inventory, Raw Materials, Net of Reserves 206   206        
Inventory, Work in Process, Net of Reserves 6,035   6,035        
Reclassification from Accumulated Other Comprehensive Income, Current Period, before Tax     1 $ 0      
Interest Expense, Debt, Total 2,927 $ 3,044 8,892 8,805      
Amortization of Debt Issuance Costs $ 381 $ 341 $ 1,061 $ 936      
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount (in shares) 16,544 541 14,154 1,892      
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member]              
Derivative, Loss on Derivative     $ 630 $ 532      
Derivative, Gain on Derivative     660 $ 863      
Currency Hedge Agreement [Member]              
Collateral Already Posted, Aggregate Fair Value $ 0   $ 0   0    
Computer Equipment [Member]              
Property, Plant and Equipment, Useful Life (Year)     3 years        
Laboratory Equipment, Office Equipment and Software [Member]              
Property, Plant and Equipment, Useful Life (Year)     5 years        
Furniture and Fixtures [Member]              
Property, Plant and Equipment, Useful Life (Year)     7 years        
Maximum [Member]              
Maturity Period of High Quality Marketable Securities (Year)     3 years        
Average Maturity Period of High Quality Marketable Securities (Month)     18 months        
Maturity Period of Short Term Investment (Month)     12 months        
Average Maturity for Portfolio Investments (Month)     18 months        
Minimum [Member]              
Long-term Investment Maturity, Minimum (Month)     12 months        
Royalty Receivable [Member]              
Restricted Cash and Cash Equivalents, Current, Total 795   $ 795   134    
Collateral for Credit [Member]              
Restricted Cash and Cash Equivalents, Current, Total 1,418   1,418   $ 1,417    
Senior Credit Facility [Member] | MidCap Financial Services, LLC [Member]              
Long-term Line of Credit, Total $ 45,000   $ 45,000     $ 23,000  
JPR Royalty Sub LLC [Member]              
Revenue Recognition Royalty and Milestone Revenue Recognized             $ 30,000