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Note 9 - Stock-based Compensation (Details Textual) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Jan. 01, 2019
Jan. 01, 2018
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term         6 years 146 days   5 years 255 days      
Allocated Share-based Compensation Expense, Total     $ 96,000 $ 904,000 $ 977,000 $ 2,647,000 $ 3,429,000 $ 3,227,000 $ 3,343,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross         1,182,500   2,041,600 719,337 132,495  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value             $ 2.61 $ 1.99 $ 5.08  
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price         $ 2.66   $ 2.61   $ 7.11  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value             $ 0 $ 27,000    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options             $ 4,600,000 $ 4,200,000    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition             2 years 146 days 2 years 146 days    
Common Stock, Capital Shares Reserved for Future Issuance     28,707,366   28,707,366   27,394,852 25,877,695    
Employee Stock Option [Member] | Non-Employees [Member]                    
Allocated Share-based Compensation Expense, Total             $ 0 $ 0 $ 0  
The 2014 Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized             704,000      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Annual Additional Shares, Percentage             4.00%      
The 2014 Plan [Member] | Minimum [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period             3 years      
The 2014 Plan [Member] | Maximum [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period             4 years      
The 2006 Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term             10 years      
The 2014 Employee Stock Purchase Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized     192,436   192,436   304,991     140,500
Share-based Compensation Arrangement by Share-based Payment Award, Number of Annual Additional Shares, Percentage 1.00%           1.00%      
Allocated Share-based Compensation Expense, Total             $ 100,000 $ 100,000 $ 100,000  
Common Stock, Capital Shares Reserved for Future Issuance     118,120   118,120   118,120 192,463   140,500
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Additional Shares Authorizable 281,000 281,000                
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized   0                
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period     0   0   74,343 100,358