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Note G - Stock-based Compensation (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jan. 02, 2016
Jun. 30, 2016
Jun. 30, 2015
Mar. 31, 2015
Jun. 30, 2016
Jun. 30, 2015
2014 Equity Incentive Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized   2,846,304     2,846,304  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Reserved for Issuance, Incremental Percentage of Capital Stock Outstanding         4.00%  
Increase in Common Stock Reserved for Issuance 579,638          
Performance Shares [Member] | Research and Development Expense [Member]            
Allocated Share-based Compensation Expense         $ 29,000 $ 200,000
Performance Shares [Member] | General and Administrative Expense [Member]            
Allocated Share-based Compensation Expense     $ 600,000     700,000
Performance Shares [Member]            
Allocated Share-based Compensation Expense   $ 0        
Research and Development Expense [Member]            
Allocated Share-based Compensation Expense   268,000 185,000   455,000 220,000
General and Administrative Expense [Member]            
Allocated Share-based Compensation Expense   $ 989,000 $ 688,000   $ 1,824,000 $ 744,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period   14,933 0   14,933 0
Allocated Share-based Compensation Expense   $ 1,257,000 $ 873,000   $ 2,279,000 $ 964,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested, Number of Shares       134,665 13,333