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Note 14 - Income Taxes (Details Textual) - USD ($) | 12 Months Ended
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Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Income Tax Expense (Benefit), Total | $ 0 | $ 0 | $ 0
Deferred Tax Liabilities, Net, Total | 0 | 0 |
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | 3,200,000 | 3,000,000 |
Unrecognized Tax Benefits that Would Impact Effective Tax Rate | $ 636,000 | $ 511,000 |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent | 21.00% | 35.00% |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |  |
Operating Loss Carryforwards, Total | $ 69,200,000 |  |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Research Tax Credit Carryforward [Member] |  |  |
Tax Credit Carryforward, Amount | 2,000,000 |  |
State and Local Jurisdiction [Member] |  |  |
Operating Loss Carryforwards, Total | 54,400,000 |  |
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member] |  |  |
Tax Credit Carryforward, Amount | $ 1,500,000 |  |

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