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Note 7 - Secured Notes to Related Party (Details Textual) - USD ($) |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | ---
Aug. 05, 2016 | Aug. 02, 2016 | Jul. 29, 2011 | Apr. 30, 2011 | Dec. 31, 2016 | Sep. 30, 2016 | Jun. 30, 2016 | Mar. 31, 2016 | Dec. 31, 2015 | Sep. 30, 2015 | Jun. 30, 2015 | Mar. 31, 2015 | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Convertible Debt Issuable in Connection with Private Placement |  |  |  | $ 4,500,000 |  |  |  |  |  |  |  |  |  |  |
Proceeds from Convertible Debt |  |  |  | $ 4,300,000 |  |  |  |  |  |  |  |  |  |  |
Common Shares Registered for Resale in Connection with Convertible Notes |  |  | 3,500,000 |  |  |  |  |  |  |  |  |  |  |  |
Interest Expense, Debt, Excluding Amortization |  |  |  |  |  |  |  |  |  |  |  |  | $ 400,000 | $ 300,000 | $ 300,000
Amortization of Debt Discount (Premium) |  |  |  |  |  |  |  |  |  |  |  |  | 689,000 | 624,000 | 573,000
Convertible Notes Payable, Related Parties, Current |  |  |  |  | $ 2,911,000 |  |  |  | $ 2,222,000 |  |  |  | 2,911,000 | 2,222,000 |
Interest Expense |  |  |  |  | 1,270,000 | $ 886,000 | $ 257,000 | $ 251,000 | 247,000 | $ 242,000 | $ 237,000 | $ 232,000 | 2,664,000 | 958,000 | $ 887,000
Notes Payable, Related Parties, Noncurrent |  |  |  |  | 50,000,000 |  |  |  |  |  |  |  | 50,000,000 |  |
Convertible Debt Securities [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  | 6.00% |  |  |  |  |  |  |  |  |  |  |
Debt Instrument Conversion Ratio Multiple of Principal |  |  |  | $ 1,000 |  |  |  |  |  |  |  |  |  |  |
Beneficial Ownership after Conversion |  |  |  | 9.99% |  |  |  |  |  |  |  |  |  |  |
Notice Period Associated with Beneficial Ownership Percentage Limitation Convertible Notes |  |  |  | 61 days |  |  |  |  |  |  |  |  |  |  |
Paid-in-Kind Interest |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |  |
Debt Instrument, Increase (Decrease), Other, Net |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |  |
Debt Instrument, Face Amount |  |  |  |  | 6,000,000 |  |  |  |  |  |  |  | 6,000,000 |  |
Debt Instrument, Unamortized Discount |  |  |  |  | 3,100,000 |  |  |  |  |  |  |  | $ 3,100,000 |  |
Debt Instrument, Convertible, Number Shares of Equity Insturments |  |  |  |  |  |  |  |  |  |  |  |  | 7,500,000 |  |
Convertible Debt Securities [Member] | In Case of Debt Conversion [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  | 6,000,000 |  |  |  |  |  |  |  | $ 6,000,000 |  |
Convertible Debt Securities [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument Conversion Ratio Shares |  |  |  | 1,250 |  |  |  |  |  |  |  |  |  |  |
Term Loan [Member] | Tang Capital [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  | 8.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Agreement, Maximum Borrowing Capacity |  | $ 100,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Term |  | 2 years |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Long-term Debt | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Long-term Debt, Subject to Achievement of Corporate Milestone |  | $ 50,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Interest Expense |  |  |  |  |  |  |  |  |  |  |  |  | 1,600,000 |  |
Notes Payable, Related Parties, Noncurrent |  |  |  |  | $ 50,000,000 |  |  |  |  |  |  |  | $ 50,000,000 |  |

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