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Note 5 - Commitments and Contingencies (Details Textual)
$ in Millions
12 Months Ended
Dec. 31, 2016
USD ($)
ft²
Dec. 31, 2015
USD ($)
Dec. 31, 2014
USD ($)
Operating Lease, Annual Rent Expense $ 2.0    
Operating Leases, Rent Expense 2.1 $ 1.5 $ 1.4
Purchase Obligation 6.7    
Unrecorded Unconditional Purchase Obligation $ 4.6    
San Diego [Member]      
Area of Real Estate Property | ft² 28,275    
Lessee Leasing Arrangements, Operating Leases, Renewal Term 5 years    
Redwood City [Member]      
Area of Real Estate Property | ft² 26,067    
Jersey City [Member]      
Area of Real Estate Property | ft² 1,898