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Note 13 - Warrant Liability (Details Textual) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 12 Months Ended
Oct. 27, 2020
Mar. 06, 2020
Mar. 31, 2020
Dec. 31, 2020
Sep. 30, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Nov. 02, 2021
Sep. 30, 2019
Aug. 13, 2019
Class of Warrant or Right, Outstanding (in shares)       7,067,000   7,082,000 7,067,000        
Proceeds from Warrant Exercises         $ 6,800 $ 0 $ 7,098 $ 67      
The July 2011 Warrants [Member]                      
Class of Warrant or Right, Expired During Period (in shares)   35,107 35,107                
Class of Warrant or Right, Outstanding (in shares)       0   0 0        
October 2015 Warrants [Member]                      
Class of Warrant or Right, Expired During Period (in shares) 15,320       15,320            
Class of Warrant or Right, Outstanding (in shares)       0   0 0        
Class of Warrant or Right, Exercised During Period (in shares)       22,680 22,680            
Proceeds from Warrant Exercises       $ 5 $ 5            
Embedded Derivative, No Longer Bifurcated, Amount Reclassified to Stockholders' Equity       $ 12              
The 2019 Domestic Warrants [Member]                      
Class of Warrant or Right, Outstanding (in shares)       0   0 0        
Warrants and Rights Outstanding       $ 4,900     $ 4,900     $ 3,100 $ 3,100
Warrants and Rights Outstanding       4,900     4,900     $ 3,100 3,100
The 2019 Foreign Warrants [Member]                      
Warrants and Rights Outstanding       4,200     4,200       2,000
Warrants and Rights Outstanding       4,200     4,200       2,000
The 2019 Ladenburg Warrants [Member]                      
Embedded Derivative, No Longer Bifurcated, Amount Reclassified to Stockholders' Equity           $ 0 9,108 $ 553      
Warrants and Rights Outstanding       200     200       100
Warrants and Rights Outstanding       $ 200     $ 200       $ 100
The 2021 Warrants [Member]                      
Warrants and Rights Outstanding           9,600     $ 14,200    
Warrants and Rights Outstanding           $ 9,600     $ 14,200