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Note 8 - Warrants (Details Textual) - $ / shares
3 Months Ended
May 14, 2020
Mar. 31, 2020
Dec. 31, 2019
May 31, 2016
Mar. 31, 2014
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)   $ 4.33 $ 4.33    
Class of Warrant or Right, Exercised During Period (in shares)   2,000      
Class of Warrant or Right, Outstanding (in shares)   3,957,005 3,959,005    
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  
WAVI Holding AG and Taurus4757 GmbH Warrants [Member] | Subsequent Event [Member]          
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) $ 4.75        
Stock Issued During Period, Shares, Warrant Exercises (in shares) 2,747,970        
Class of Warrant or Right, Exercised During Period (in shares) 3,871,405        
Class of Warrant or Right, Outstanding (in shares) 85,600