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Note 1 - Summary of Significant Accounting Policies (Details Textual)
$ in Thousands
3 Months Ended
Mar. 31, 2018
USD ($)
Mar. 31, 2017
USD ($)
Jan. 01, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2016
USD ($)
Cash and Cash Equivalents, at Carrying Value, Ending Balance $ 83,431 $ 126,306   $ 90,642 $ 138,909
Cash and Cash Equivalents, Period Increase (Decrease), Total $ (7,200)        
Number of Years Cash is Sufficient to Fund Operations 1 year        
Proceeds from Issuance of Common Stock $ 9,524      
Cumulative Effect of New Accounting Principle in Period of Adoption 35        
Accounts Receivable, Net, Current, Total 3,512     3,972  
Restricted Cash and Cash Equivalents, Current, Total 2,444    
Restricted Cash and Cash Equivalents, Noncurrent, Total 1,524 $ 2,002   1,522 $ 2,001
Accumulated Depreciation, Depletion and Amortization, Property, Plant, and Equipment, Ending Balance $ 1,948     $ 1,716  
Number of Operating Segments 1        
Retained Earnings [Member]          
Cumulative Effect of New Accounting Principle in Period of Adoption $ 35        
Accounting Standards Update 2014-09 [Member]          
Accounts Receivable, Net, Current, Total     $ 35    
Accounting Standards Update 2014-09 [Member] | Retained Earnings [Member]          
Cumulative Effect of New Accounting Principle in Period of Adoption     $ 35