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Note 11 - Warrant Liabilities - Summary of Changes in Warrant Liabilities (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Dec. 31, 2015
Jul. 02, 2012
Jun. 30, 2012
Visser MTA Agreement [Member] | Warrant [Member]              
Derivative liabilities, balance     $ 34,000        
Original valuation- new issuances            
Change in value of warrant liabilities, loss     657,000        
Derivative liabilities, balance $ 691,000   691,000        
Included in current liabilities 691,000   691,000        
Included in long-term liabilities          
Visser MTA Agreement [Member]              
Change in value of warrant liabilities, loss (292,000)   657,000        
Included in long-term liabilities             $ 4,260,000
Warrant [Member] | Private Placement [Member]              
Derivative liabilities, balance     25,000        
Original valuation- new issuances            
Change in value of warrant liabilities, loss     539,000        
Derivative liabilities, balance 564,000   564,000        
Included in current liabilities 564,000   564,000        
Included in long-term liabilities       $ 5,053,000  
Warrant [Member] | The 2016 Purchase Agreement [Member]              
Derivative liabilities, balance            
Original valuation- new issuances     760,000        
Change in value of warrant liabilities, loss     689,000        
Derivative liabilities, balance 1,449,000   1,449,000        
Included in current liabilities          
Included in long-term liabilities 1,449,000   1,449,000        
Warrant [Member]              
Derivative liabilities, balance     59,000        
Original valuation- new issuances     760,000        
Change in value of warrant liabilities, loss     1,885,000        
Derivative liabilities, balance 2,704,000   2,704,000        
Included in current liabilities 1,255,000   1,255,000      
Included in long-term liabilities 1,449,000   1,449,000        
Private Placement [Member]              
Change in value of warrant liabilities, loss (172,000)   539,000        
The 2016 Purchase Agreement [Member]              
Change in value of warrant liabilities, loss (99,000)   689,000        
Change in value of warrant liabilities, loss (563,000) $ (1,138,000) 1,885,000 $ (1,326,000)      
Included in long-term liabilities $ 1,449,000   $ 1,449,000   $ 59,000