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Note 14 - Subsequent Events (Details Textual) - USD ($) |  | 2 Months Ended | 12 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 05, 2020 | Mar. 13, 2020 | Dec. 31, 2019 | Mar. 06, 2020 | Dec. 31, 2018 | May 31, 2017 | May 25, 2017 | Apr. 26, 2016
Debt Conversion, Original Debt, Amount |  |  | $ 12,700,000 |  |  |  |  |
2017 Warrants [Member] |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights |  |  |  |  |  |  | 362,500 |
Class of Warrant or Right, Exercise Price of Warrants or Rights |  |  | $ 14.54 |  |  |  | $ 14.94 |
Subsequent Event [Member] | November 2018 At the Market Offering [Member] |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues |  | 408,992 |  |  |  |  |  |
Proceeds from Issuance of Common Stock, Gross |  | $ 4,000,000 |  |  |  |  |  |
At Market Issuance Sales Agreement, Maximum Aggregate Offering Price |  |  |  | $ 25,000,000 |  |  |  |
Subsequent Event [Member] | 2017 Warrants [Member] |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights | 362,500 |  |  |  |  |  |  |
Class of Warrant or Right, Exercise Price of Warrants or Rights | $ 6.75 |  |  |  |  |  |  |
Conversion of Convertible Senior Notes 2020 into Preferred Stock [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |
Debt Conversion, Original Debt, Amount | $ 27,300,000 |  |  |  |  |  |  |
Debt Conversion, Converted Instrument, Shares Issued | 10,000 |  |  |  |  |  |  |
Conversion of Convertible Senior Notes 2020 into Common Stock [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |
Debt Conversion, Original Debt, Amount | $ 17,500,000 |  |  |  |  |  |  |
Debt Conversion, Converted Instrument, Amount | $ 2,600,000 |  |  |  |  |  |  |
2020 Convertible Senior Notes [Member] |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  | 7.00% |  | 7.00% |  |  | 7.00%
Debt Instrument, Face Amount |  |  |  |  |  |  |  | $ 27,400,000
Senior Secured Debt [Member] |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  |  | 3.00% |
Debt Instrument, Face Amount |  |  |  |  |  | $ 60,000,000 |  |
Senior Secured Debt [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |
Debt Instrument, Prepayment Premium, Percent | 7.00% |  |  |  |  |  |  |

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