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Note 9 - Net Loss Per Share Attributable to Common Stockholders (Tables)
6 Months Ended
Jun. 30, 2019
Notes Tables  
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block]
    Three Months Ended June 30,   Six Months Ended June 30,
    2019   2018   2019   2018
Outstanding stock options    
3,658,280
     
4,447,226
     
3,658,280
     
4,447,226
 
Outstanding ESPP shares    
-  
     
-  
     
-  
     
-  
 
Convertible preferred stock    
21,771,032
     
22,112,775
     
21,771,032
     
22,112,775
 
     
25,429,312
     
26,560,001
     
25,429,312
     
26,560,001