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Note 8 - Net Loss Per Share Attributable to Common Stockholders (Tables)
9 Months Ended
Sep. 30, 2016
Notes Tables  
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block]
    Three Months Ended September 30,   Nine Months Ended September 30,
    2016   2015   2016   2015
Outstanding stock options     2,169,617       1,800,262       2,169,617       1,800,262  
Outstanding ESPP shares     10,913       1,097       10,913       1,097  
      2,180,530       1,801,359       2,180,530       1,801,359