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Consolidated Statements of Stockholders' Equity (Deficit) (Unaudited) (Parentheticals) - shares | 3 Months Ended
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Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020
Common Stock [Member] |  |  |  |  |  |
Employee stock purchase plan sales, shares (in shares) | 123,000 |  | 193,000 | 137,000 |  | 110,000
Exercise of stock options, shares (in shares) |  | 1,056,000 | 593,000 |  | 193,000 |
Issuance of common stock, shares (in shares) |  |  |  |  | 22,044,000 |
Exercise of stock options, shares (in shares) | 942,000 |  |  |  |  |
Warrants issued (in shares) |  |  |  |  | 3,511,000 |

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