Represents the percent of consideration for milestone payments to be received on an asset acquisition.

No definition available.

Name:	acrx_AssetAcquisitionMilestonePaymentsPercentOfConsideration
Namespace Prefix:	acrx_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Represents the amount of milestone payments to be received as part of an asset acquisition.

+ References

No definition available.

+ Details

Name:	acrx_AssetAcquisitionMilestonePaymentsToBeReceived
Namespace Prefix:	acrx_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Represents the percent of of net sales that quarterly payments as part of an asset acquisition make up.

+ References

No definition available.

+ Details

Name:	acrx_AssetAcquisitionQuarterlyPaymentsPercentOfNetProductSales
Namespace Prefix:	acrx_
Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	instant

- Definition

Amount of complementary payment to be received as part of a licensing agreement.

+ References

No definition available.

+ Details

Name:	acrx_LicensingAgreementComplementaryPayment
Namespace Prefix:	acrx_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant

- Definition

Represents licensing agreement, milestone payment liabilities.

+ References

No definition available.

+ Details

Name:	acrx_LicensingAgreementMilestonePayments
Namespace Prefix:	acrx_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Number of shares issued for common stock warrants exercised.

+ References

No definition available.

+ Details

Name:	acrx_StockIssuedDuringPeriodSharesCommonStockWarrantsExercised
Namespace Prefix:	acrx_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	duration

- Details

Name:	us-gaap_SubsequentEventTypeAxis=us-gaap_SubsequentEventMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_ClassOfWarrantOrRightAxis=acrx_The2022PrefundedWarrantsMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_CounterpartyNameAxis=acrx_AguettantMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_ProductOrServiceAxis=acrx_PFSProductsMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_AssetAcquisitionAxis=acrx_DsuviaAgreementMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_MajorCustomersAxis=acrx_ExcludingTheDepartmentOfDefenseOrAguettantMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_MajorCustomersAxis=acrx_DepartmentOfDefenseMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	srt_RangeAxis=srt_MaximumMember
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

Note 20 - Subsequent Events (Details Textual) - Subsequent Event [Member] $ in Millions	3 Months Ended
	Mar. 31, 2023 shares	Apr. 03, 2023 USD ($)	Apr. 03, 2023 EUR (€)	Mar. 12, 2023 USD ($)
The 2022 Prefunded Warrants [Member]
Stock Issued During Period, Shares, Common Stock Warrants Exercised (in shares) \| shares	2,632,898
Aguettant [Member] \| PFS Products [Member]
Licensing Agreement, Complementary Payment \| €			€ 1,500,000
Licensing Agreement, Milestone Payments		$ 21.0
DSUVIA Agreement [Member]
Asset Acquisition, Milestone Payments, Percent of Consideration				20.00%
DSUVIA Agreement [Member] \| Excluding the Department of Defense or Aguettant [Member]
Asset Acquisition, Quarterly Payments, Percent of Net Product Sales				15.00%
DSUVIA Agreement [Member] \| Department of Defense [Member]
Asset Acquisition, Quarterly Payments, Percent of Net Product Sales				75.00%
DSUVIA Agreement [Member] \| Maximum [Member]
Asset Acquisition, Milestone Payments to be Received				$ 116.5