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Note 1 - Significant Accounting Policies and Concentrations of Risk (Details Textual) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Sep. 23, 2016	Mar. 09, 2011
Long-term Line of Credit, Total	$ 41,289	$ 25,372
Restricted Cash and Cash Equivalents, Current, Total	1,551	1,544
Reclassification from Accumulated Other Comprehensive Income, Current Period, before Tax	0	2
Advertising Expense	0	0	$ 0
Interest Expense, Debt, Total	11,892	9,176	8,565
Amortization of Debt Issuance Costs	$ 1,278	$ 885	$ 876
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	2,805	2,274	2,067
Foreign Exchange Contract [Member] | Not Designated as Hedging Instrument [Member]
Derivative, Loss on Derivative	$ 347	$ 1,049	$ 1,787
Derivative, Gain on Derivative	863	941	$ 966
Currency Hedge Agreement [Member]
Collateral Already Posted, Aggregate Fair Value	$ 0	0
Computer Equipment [Member]
Property, Plant and Equipment, Useful Life	3 years
Laboratory Equipment, Office Equipment and Software [Member]
Property, Plant and Equipment, Useful Life	5 years
Furniture and Fixtures [Member]
Property, Plant and Equipment, Useful Life	7 years
Maximum [Member]
Maturity Period of High Quality Marketable Securities	3 years
Average Maturity Period of High Quality Marketable Securities	1 year 180 days
Maturity Period of Short Term Investment	1 year
Average Maturity for Portfolio Investments	1 year 180 days
Minimum [Member]
Long-term Investment Maturity, Minimum	1 year
Royalty Receivable [Member]
Restricted Cash and Cash Equivalents, Current, Total	$ 134	131
Collateral for Credit [Member]
Restricted Cash and Cash Equivalents, Current, Total	1,417	$ 1,413
Senior Credit Facility [Member] | MidCap Financial Services, LLC [Member]
Long-term Line of Credit, Total	$ 50,000			$ 23,000
JPR Royalty Sub LLC [Member]
Revenue Recognition Royalty and Milestone Revenue Recognized					$ 30,000

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