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Note 9 - Stock-based Compensation (Details Textual) - USD ($)
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term 6 years    
Allocated Share-based Compensation Expense $ 3,343,000 $ 2,164,000 $ 459,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross 132,495 1,010,256 659,865
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price $ 7.11    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value $ 5.08 $ 9.34 $ 4.07
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value $ 600,000 $ 500,000  
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options $ 5,600,000    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition 2 years 73 days    
Common Stock, Capital Shares Reserved for Future Issuance 3,275,291 2,717,260  
Employee Stock Option [Member] | Non-Employees [Member]      
Allocated Share-based Compensation Expense $ 0 $ 2,000 $ 4,000
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 304,991    
Share-based Compensation Arrangement by Share-based Payment Award Number of Annual Additional Shares Percentage 1.00%    
Allocated Share-based Compensation Expense $ 93,000 $ 32,000  
Common Stock, Capital Shares Reserved for Future Issuance 292,821 297,359 140,500
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period 4,538 7,632  
The 2014 Employee Stock Purchase Plan [Member] | Maximum [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized 281,000