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Note 10 - Warrants (Details Textual) - $ / shares | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | May 31, 2016 | Mar. 31, 2014
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Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) | $ 4.33 | $ 4.35 | $ 4.50 |  |
Warrants to Purchase Common Stock [Member] |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  | 6,910,283
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  |  |  |  | $ 4.75
Warrants in Connection with WAVI Credit Facility [Member] |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  | 550,000 |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  |  |  | $ 1.75 |

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- Definition Exercise price per share or per unit of warrants or rights outstanding. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=109259400&loc=d3e21475-112644 + Details
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- Definition Number of securities into which the class of warrant or right may be converted. For example, but not limited to, 500,000 warrants may be converted into 1,000,000 shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=109259400&loc=d3e21475-112644 + Details
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