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Note 9 - Stockholders' Equity (Details Textual) - USD ($)		1 Months Ended			3 Months Ended	9 Months Ended
	Apr. 23, 2021	Jun. 30, 2020	Apr. 30, 2020	Jun. 30, 2011	Sep. 30, 2021	Sep. 30, 2021	Sep. 30, 2020	Jun. 30, 2021	Dec. 31, 2020	Dec. 31, 2019
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)					$ 2.15	$ 2.15	$ 1.95		$ 1.97	$ 0.50
Deferred Compensation Arrangement with Individual, Shares Authorized for Issuance (in shares)					2,005,661	2,005,661	2,351,727		2,428,329	2,375,762
Share-based Payment Arrangement, Option [Member]
Share-based Payment Arrangement, Amount Capitalized						$ 451,000	$ 68,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total					$ 3,300,000	$ 3,300,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)						4 years 1 month 6 days
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Employee [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)						2,032,175	80,000
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate, Minimum						0.19%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate, Maximum						1.15%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum						69.10%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum						94.00%
Share-based Payment Arrangement, Expense						$ 20,000	$ 9,000
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Employee [Member] \| Minimum [Member]
Share Price (in dollars per share)					$ 2.46	$ 2.46
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)						3 years
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Employee [Member] \| Maximum [Member]
Share Price (in dollars per share)					3.79	$ 3.79
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)						6 years 6 months
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Nonemployee [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)						16,666	24,999
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum						97.69%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum						98.09%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)						2 years 10 months 24 days
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate						0.00%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate						0.30%
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Nonemployee [Member] \| Minimum [Member]
Share Price (in dollars per share)					3.57	$ 3.57
Share-based Payment Arrangement, Option [Member] \| Share-based Payment Arrangement, Nonemployee [Member] \| Maximum [Member]
Share Price (in dollars per share)					$ 4.30	$ 4.30
Restricted Stock [Member]
Share-based Payment Arrangement, Expense					$ 16,667	$ 37,500
Stock Option Plan 2011 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)				2,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)				4,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercise Period from Grant Date (Year)				3 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expire Period after Grant Date (Year)				5 years
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)								2,471,659	424,425
The 2020 Equity Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)						4,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)						3 years
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)						5 years
Chief Executive Officer, Chief Financial Officer and Employees [Member]
Deferred Compensation Arrangement with Individual, Shares Authorized for Issuance (in shares)					1,861,639	1,861,639	2,202,229
Non-Employees [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)					144,024	144,024	149,498
Vice Chairman of the Board of Directors [Member] \| The 2020 Equity Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)	5 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)	2,000,000
Warrants Associated With April 2020 Public Offering [Member]
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)			2,710,000
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)			$ 1.20
Warrants Associated With the June 2020 Public Offering [Member]
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares)		3,749,000
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share)		$ 2.60
April 6, 2020 Public Offering [Member]
Proceeds from Issuance of Common Stock, Gross			$ 5,100,000
Stock Issued During Period, Shares, New Issues (in shares)			5,420,000
Share Price (in dollars per share)			$ 0.95
June 30, 2020 Public Offering [Member]
Proceeds from Issuance of Common Stock, Gross		$ 14,600,000
Stock Issued During Period, Shares, New Issues (in shares)		6,770,000
Share Price (in dollars per share)		$ 2.15