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Note 7 - Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
    Year Ended December 31,
    2019   2018   2017
Research and development   $
13,977
    $
6,867
    $
9,602
 
General and administrative    
3,742
     
2,529
     
3,019
 
Total stock-based compensation expense   $
17,719
    $
9,396
    $
12,621
 
Share-based Payment Arrangement, Activity [Table Text Block]
    Awards
Available
  Options
Outstanding
  Weighted
Average
Exercise
Price
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
)    
-
     
-
 
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
 
Plan amendment    
4,000
     
-
     
-
 
Restricted stock awards granted    
(27
)    
-
     
-
 
Stock option awards granted    
(4,511
)    
4,511
     
3.91
 
Stock option awards exercised    
-
     
(251
)    
3.75
 
Stock option awards cancelled    
701
     
(701
)    
6.82
 
Balance at December 31, 2019    
968
     
21,050
    $
5.96
 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
    2019   2018   2017
Expected Life    
5.5
     
5.5
     
5.5
 
Expected Volatility    
81
%    
82
%    
82
%
Expected Dividend Yield    
0.0
%    
0.0
%    
0.0
%
Risk-Free Interest Rate    
1.8
%    
2.7
%    
2.0
%
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
 
1,929
   
5.5
    $
2.02
     
1,159
    $
1.64
 
 
3
to
6
 
11,724
   
7.2
     
4.17
     
5,085
     
4.55
 
 
6
to
9
 
4,941
   
7.7
     
7.14
     
1,830
     
6.98
 
 
9
to
12
 
3,086
   
5.3
     
10.78
     
2,013
     
10.91
 
 
12
to
15
 
604
   
5.1
     
12.29
     
509
     
12.31
 
 
15
to
18
 
95
   
5.5
     
15.39
     
95
     
15.39
 
$
0
to
18
 
22,379
   
6.9
    $
5.82
     
10,691
    $
6.31
 
Share-based Payment Arrangement, Option, Activity [Table Text Block]
    Non-Vested
Stock Option
Awards
  Weighted Average
Grant-Date Fair
Value
Balance December 31, 2018    
9,295
    $
4.78
 
Stock option awards granted    
5,891
     
2.58
 
Stock option awards vested    
(2,794
)    
4.48
 
Stock option awards forfeited    
(704
)    
4.38
 
Balance December 31, 2019    
11,688
    $
3.77