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Note 5 - Commitments and Contingencies (Details Textual)
12 Months Ended
Dec. 31, 2015
USD ($)
ft²
Dec. 31, 2014
USD ($)
Dec. 31, 2013
USD ($)
Redwood City [Member]      
Area of Real Estate Property | ft² 26,067    
Jersey City [Member]      
Area of Real Estate Property | ft² 1,898    
San Diego [Member]      
Area of Real Estate Property | ft² 3,419    
Operating Leases, Rent Expense | $ $ 1,502,000 $ 1,381,000 $ 967,000
Purchase Obligation | $ 3,851,000    
Unrecorded Unconditional Purchase Obligation | $ $ 3,192,000