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Note 13 - Income Taxes (Details Textual) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020
Income Tax Expense (Benefit), Total | $ 0 | $ 0
Deferred Tax Liabilities, Net, Total | 0 | 0
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | 2,700,000 | 3,300,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate | 991,000 | 895,000
Domestic Tax Authority [Member] |  |
Operating Loss Carryforwards, Total |  | $ 62,400,000
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |
Operating Loss Carryforwards, Total | 106,100,000 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Research Tax Credit Carryforward [Member] |  |
Tax Credit Carryforward, Amount | 3,100,000 |
State and Local Jurisdiction [Member] | Research Tax Credit Carryforward [Member] |  |
Tax Credit Carryforward, Amount | $ 2,300,000 |

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