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Note 14 - Income Taxes (Details Textual) - USD ($)	12 Months Ended
	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

X

- Definition

Amount, after deferred tax asset, of deferred tax liability attributable to taxable differences without jurisdictional netting.

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