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Note 13 - Related Party Transactions (Details Textual) - USD ($) |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Apr. 29, 2020 | Feb. 28, 2019 | Jan. 31, 2017 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2019 | Jun. 30, 2014
Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |
Deferred Compensation Arrangement with Individual, Compensation Expense |  |  |  |  |  | $ 308,000 |  | $ 380,000 |
Director of Clinical Affairs [Member] |  |  |  |  |  |  |  |  |
Royalty Expense |  |  |  | $ 61,000 | $ 92,000 | 158,000 | $ 292,000 |  |
Professional Fees |  |  |  | 39,000 | 39,000 | 117,000 | 117,000 |  |
Accounts Payable, Related Parties |  |  |  | $ 80,000 |  | $ 80,000 |  | 390,000 |
Milestone China [Member] |  |  |  |  |  |  |  |  |
Equity Method Investment, Ownership Percentage |  |  |  | 40.00% |  | 40.00% |  |  | 40.00%
Manufacturing Agreement for Handpieces [Member] |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party | $ 370,260 |  |  | $ 373,000 | 549,000 | $ 1,200,000 | 1,100,000 |  |
Due to Related Parties, Total |  |  |  | 365,000 |  | 365,000 |  | $ 943,000 |
Consulting Services [Member] |  |  |  |  |  |  |  |  |
Related Party Transaction, Expenses from Transactions with Related Party |  |  |  | 25,000 | 25,000 | 75,000 | 75,000 |  |
Consulting Services [Member] | United Systems [Member] |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Issued for Services (in shares) |  | 285,714 |  |  |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) |  | $ 0.35 |  |  |  |  |  |  |
Stock Issued During Period, Value, Issued for Services |  | $ 100,000 |  |  |  |  |  |  |
Consultant [Member] | Innovest S.p.A. [Member] |  |  |  |  |  |  |  |  |
Related Party Transaction, Expenses from Transactions with Related Party |  |  |  | $ 20,000 | $ 20,000 | $ 60,000 | $ 60,000 |  |
Consulting Services Agreement, Term (Month) |  |  | 1 year |  |  |  |  |  |

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