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Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - $ / shares
Jun. 30, 2021
Dec. 31, 2020
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, shares authorized (in shares) 480,000,000.0 480,000,000.0
Common stock, shares issued (in shares) 118,500,000 117,800,000
Common stock, shares outstanding (in shares) 118,500,000 117,800,000
Treasury stock, shares (in shares) 300,493 249,742
Preferred stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred stock, shares authorized (in shares) 800,000 800,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Series A Convertible Preferred Stock [Member]    
Temporary equity, liquidation preference (in dollars per share) $ 1,000 $ 1,000
Temporary equity, shares issued (in shares) 69,477 65,507
Temporary equity, shares outstanding (in shares) 69,477 65,507
Series B Convertible Preferred Stock [Member]    
Temporary equity, liquidation preference (in dollars per share) $ 1,000 $ 1,000
Temporary equity, shares issued (in shares) 66,396 62,612
Temporary equity, shares outstanding (in shares) 66,396 62,612
Series C Convertible Preferred Stock [Member]    
Temporary equity, liquidation preference (in dollars per share) $ 1,000 $ 1,000
Temporary equity, shares issued (in shares) 35,190 0
Temporary equity, shares outstanding (in shares) 35,190 0