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Note 7 - Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2018
Notes Tables  
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]
    Year Ended December 31,
    2018   2017   2016
Research and development   $
6,867
    $
9,602
    $
6,088
 
General and administrative    
2,529
     
3,019
     
2,399
 
Total stock-based compensation expense   $
9,396
    $
12,621
    $
8,487
 
Share-based Compensation, Activity [Table Text Block]
    Awards
Available
  Options
Outstanding
  Weighted
Average
Exercise
Price
Balance at December 31, 2015    
16
     
10,671
    $
7.50
 
Plan amendment    
3,800
     
-
     
-
 
Restricted stock awards granted    
(34
)    
-
     
-
 
Restricted stock awards cancelled    
22
     
-
     
-
 
Stock option awards granted    
(2,248
)    
2,248
     
3.20
 
Stock option awards exercised    
-
     
(107
)    
2.63
 
Stock option awards cancelled    
717
     
(717
)    
10.78
 
Balance at December 31, 2016    
2,273
     
12,095
     
6.55
 
Plan amendment    
1,000
     
-
     
-
 
Restricted stock awards granted    
(22
)    
-
     
-
 
Restricted stock awards cancelled    
12
     
-
     
-
 
Stock option awards granted    
(3,915
)    
3,915
     
5.33
 
Stock option awards exercised    
-
     
(438
)    
3.50
 
Stock option awards cancelled    
1,120
     
(1,120
)    
9.72
 
Balance at December 31, 2017    
468
     
14,452
     
6.06
 
Plan amendment    
4,400
     
-
     
-
 
Restricted stock awards granted    
(13
)    
-
     
-
 
Restricted stock awards cancelled    
-
     
-
     
-
 
Stock option awards granted    
(4,272
)    
4,272
     
7.15
 
Stock option awards exercised    
-
     
(1,011
)    
2.92
 
Stock option awards cancelled    
222
     
(222
)    
7.44
 
Balance at December 31, 2018    
805
     
17,491
    $
6.49
 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
    2018   2017   2016
Expected Life    
5.5
     
5.5
     
5.5
 
Expected Volatility    
82
%    
82
%    
82
%
Expected Dividend Yield    
0.0
%    
0.0
%    
0.0
%
Risk-Free Interest Rate    
2.7
%    
2.0
%    
1.4
%
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable [Table Text Block]
         
Outstanding
 
Exercisable
Range
     
Number
 
Weighted

Average

Remaining

Life
 
Weighted

Average

Exercise

Price
 
Number
 
Weighted

Average

Exercise

Price
$
0
to
3
 
1,266
   
4.1
   
$
1.66
     
1,191
   
$
1.58
 
 
3
to
6
 
7,778
   
6.8
     
4.69
     
3,937
     
4.50
 
 
6
to
9
 
4,768
   
8.7
     
7.06
     
883
     
6.85
 
 
9
to
12
 
2,980
   
6.5
     
10.90
     
1,711
     
10.96
 
 
12
to
15
 
604
   
6.0
     
12.29
     
403
     
12.35
 
 
15
to
18
 
95
   
6.5
     
15.39
     
71
     
15.39
 
$
0
to
18
 
17,491
   
7.0
   
$
6.49
     
8,196
   
$
6.16
 
Share-based Compensation, Stock Options, Activity [Table Text Block]
    Non-Vested
Stock Option
Awards
  Weighted Average
Grant-Date Fair
Value
Balance December 31, 2017    
7,202
    $
4.56
 
Stock option awards granted    
4,272
     
4.92
 
Stock option awards vested    
(2,065
)    
4.33
 
Stock option awards forfeited    
(114
)    
4.12
 
Balance December 31, 2018    
9,295
    $
4.78