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Note 8 - Net Loss Per Share Attributable to Common Stockholders (Tables)
3 Months Ended
Mar. 31, 2017
Notes Tables  
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block]
    Three Months Ended March 31,
    2017   2016
Outstanding stock options    
2,751,595
     
2,203,975
 
Outstanding ESPP shares    
91,740
     
8,841
 
     
2,843,335
     
2,212,816