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Note 8 - Notes Payable and Convertible Notes Payable (Details Textual) - USD ($) |  |  | 1 Months Ended | 3 Months Ended
--- | --- | --- | --- | ---
Apr. 30, 2019 | Feb. 28, 2019 | Jun. 30, 2023 | Dec. 31, 2022 | May 31, 2022 | Sep. 30, 2021 | May 31, 2021 | Mar. 31, 2024 | Dec. 31, 2023 | Mar. 31, 2023
Proceeds from Notes Payable, Total |  |  |  |  |  |  |  | $ 0 |  | $ 350,000
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  |  |  |  | 105,432,083 | 105,432,083 |
New Avenue Warrant [Member] |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  |  |  |  |  | 3,000,000 |
Avenue [Member] | Warrants Issued with 2021 Avenue Loan [Member] |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  |  |  | 115,851 |  |  |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  |  |  |  |  |  | $ 8.63 |  |  |
Warrants and Rights Outstanding |  |  |  |  |  |  | $ 1,500,000 |  |  |
Avenue [Member] | New Avenue Warrant [Member] |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  |  |  | 3,000,000 |  |  |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  |  |  |  |  |  | $ 0.8 |  |  |
Warrants and Rights Outstanding |  |  |  |  |  |  | $ 700,000 |  |  |
Avenue [Member] | Minimum [Member] | Public Equity Offering [Member] |  |  |  |  |  |  |  |  |  |
Equity Milestone 1 Condition for Extended Interest Only Period |  |  | $ 35,000,000 |  |  |  |  |  |  |
Equity Milestone 2 Condition for Extended Interest Only Period |  |  | $ 40,000,000 |  |  |  |  |  |  |
The 2019 MD Loan [Member] | Department of Housing and Community Development [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  | $ 500,000 |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  | 8.00% |  |  |  |  |  |  |  |
Phantom Shares for Potential Repayment (in shares) |  | 119,907 |  |  |  |  |  |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | $ 10,000 |  | 10,000
The 2019 Cecil Loan [Member] | Advance Cecil Inc. [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount | $ 100,000 |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage | 8.00% |  |  |  |  |  |  |  |  |
Phantom Shares for Potential Repayment (in shares) | 23,981 |  |  |  |  |  |  |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | 2,000 |  | 2,000
The 2022 MD Loan [Member] | Department of Housing and Community Development [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  | $ 3,000,000 |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  | 6.00% |  |  |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | 15,000 |  | 12,000
Proceeds from Loans |  |  |  |  |  |  |  | 1,000,000 |  |
Debt Instrument, Monthly Interest-only Payments, Maximum Amount, First Eighteen Installments |  |  |  |  | $ 15,000 |  |  |  |  |
Debt Instrument, Monthly Principal and Interest Payment, for the Next Thirty Installments |  |  |  |  | 33,306 |  |  |  |  |
Interest Payable |  |  |  |  |  |  |  | $ 50,000 | $ 50,000 |
Debt Issuance Costs, Gross |  |  |  |  | $ 31,000 |  |  |  |  |
The 2022 DHCD Loan [Member] | Convertible Notes Payable [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  |  |  | 6.00% |  |
The 2022 DHCD Loan [Member] | Department of Housing and Community Development [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  | $ 5,000,000 |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  | 6.00% |  |  |  |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | $ 100,000 |  | 100,000
Interest Payable |  |  |  |  |  |  |  | 400,000 | $ 300,000 |
Debt Issuance Costs, Gross |  |  |  | $ 100,000 |  |  |  |  |  |
Debt Instrument, Convertible, Minimum Increment of Principal for Exercise |  |  |  | $ 1,000,000 |  |  |  |  |  |
Debt Conversion, Conversion Price, Percent of 30-day Trailing Volume-weighted Average Sale Price of Common Stock |  |  |  | 97.00% |  |  |  |  |  |
Debt Instrument, Convertible, Conversion Price (in dollars per share) |  |  |  | $ 4 |  |  |  |  |  |
Coupon Interest Expense |  |  |  |  |  |  |  | 100,000 |  | 100,000
Amortization of Debt Issuance Costs and Discounts |  |  |  |  |  |  |  | $ 3,000 |  | 3,000
Debt Instrument, Interest Rate, Effective Percentage |  |  |  |  |  |  |  | 5.99% |  |
The 2021 Avenue Loan [Member] | Avenue [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  |  |  | $ 30,000,000 |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  |  | 3.25% |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | $ 1,100,000 |  | 1,000,000
Debt Instrument, Convertible, Conversion Price (in dollars per share) |  |  |  |  |  |  |  | $ 10.36 |  |
Debt Instrument, Basis Spread on Variable Rate |  |  |  |  |  |  | 6.60% |  |  |
Debt Instrument, Interest Rate During Period |  |  |  |  |  |  |  | 15.10% | 14.10% |
Debt Issuance Costs, Net |  |  |  |  |  |  | $ 800,000 |  |  |
Debt Issuance Costs Expensed |  |  |  |  |  |  | $ 47,000 |  |  |
Debt Instrument, Interest Only Payments, Period (Month) |  |  |  |  |  |  | 12 months |  |  |
Debt Instrument, First Interest-only Period Extension (Month) |  |  |  |  |  |  | 12 months |  |  |
Additional Payment at Debt Maturity, Percentage of Principal |  |  |  |  |  |  | 4.25% |  |  |
Additional Payment at Debt Maturity |  |  |  |  |  |  | $ 900,000 |  |  |
Debt Instrument, Convertible, Maximum Conversion Amount |  |  |  |  |  |  |  | $ 5,000,000 |  |
Debt Instrument, Covenant, Cash and Certain Cash Equivalents, Minimum |  |  |  |  |  |  |  | 5,000,000 |  |
The 2021 Avenue Loan [Member] | Avenue [Member] | Convertible Notes Payable [Member] |  |  |  |  |  |  |  |  |  |
Interest Expense, Debt |  |  |  |  |  |  |  | 300,000 |  | 200,000
Coupon Interest Expense |  |  |  |  |  |  |  | 200,000 |  | 200,000
Amortization of Debt Issuance Costs and Discounts |  |  |  |  |  |  |  | $ 100,000 |  | $ 100,000
Debt Instrument, Interest Rate During Period |  |  |  |  |  |  |  | 22.79% |  | 20.17%
Debt Instrument, Unamortized Discount (Premium) and Debt Issuance Costs, Net |  |  |  |  |  |  |  | $ 33,000 | $ 100,000 |
The 2021 Avenue Loan [Member] | Avenue [Member] | Notes Payable, Tranche 1 [Member] |  |  |  |  |  |  |  |  |  |
Proceeds from Notes Payable, Total |  |  |  |  |  | $ 5,000,000 | 15,000,000 |  |  |
The 2021 Avenue Loan [Member] | Avenue [Member] | Notes Payable, Tranche 2 [Member] |  |  |  |  |  |  |  |  |  |
Debt Instrument, Unfunded Balance |  |  |  |  |  |  | $ 10,000,000 |  |  |

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