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Note 6 - Stock-based Compensation (Details Textual) - USD ($)
3 Months Ended 9 Months Ended
Jan. 01, 2018
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Dec. 31, 2017
Dec. 31, 2014
Common Stock, Capital Shares Reserved for Future Issuance   27,291,765   27,291,765   25,877,695  
Allocated Share-based Compensation Expense, Total   $ 904,000 $ 747,000 $ 2,647,000 $ 2,459,000    
The 2014 Employee Stock Purchase Plan [Member]              
Common Stock, Capital Shares Reserved for Future Issuance   140,479   140,479   192,463 140,500
Share-based Compensation Arrangement by Share-based Payment Award, Number of Annual Additional Shares, Percentage   1.00%   1.00%      
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Additional Shares Authorizable 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, Number of Shares Authorized   304,991   304,991      
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period   0   51,984      
Allocated Share-based Compensation Expense, Total   $ 20,000 $ 18,000 $ 100,000 $ 100,000