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Note 7 - Exercise Price Ranges (Details)
 12 Months Ended
Dec. 31, 2015
$ / shares
shares
Exercise Price Range 1 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 702,903
Range of exercise prices, lower limit (in dollars per share) $ 3.80
Range of exercise prices, upper limit (in dollars per share) $ 7
Options outstanding, weighted-average remaining contractual life 6 years 113 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 5.92
Options exercisable (in shares) | shares 466,373
Options exercisable, weighted-average exercise price (in dollars per share) $ 5.38
Exercise Price Range 2 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 2,302,688
Options outstanding, weighted-average remaining contractual life 7 years 120 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 7.20
Options exercisable (in shares) | shares 711,687
Options exercisable, weighted-average exercise price (in dollars per share) $ 7.20
Exercise Price Range 3 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 2,047,712
Range of exercise prices, lower limit (in dollars per share) $ 7.61
Range of exercise prices, upper limit (in dollars per share) $ 9.05
Options outstanding, weighted-average remaining contractual life 8 years 109 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 8.91
Options exercisable (in shares) | shares 711,561
Options exercisable, weighted-average exercise price (in dollars per share) $ 8.84
Exercise Price Range 4 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 1,702,732
Range of exercise prices, lower limit (in dollars per share) $ 9.20
Range of exercise prices, upper limit (in dollars per share) $ 28.30
Options outstanding, weighted-average remaining contractual life 7 years 83 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 14.89
Options exercisable (in shares) | shares 692,974
Options exercisable, weighted-average exercise price (in dollars per share) $ 12.17
Exercise Price Range 5 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 1,678,953
Range of exercise prices, lower limit (in dollars per share) $ 28.73
Range of exercise prices, upper limit (in dollars per share) $ 128
Options outstanding, weighted-average remaining contractual life 9 years 259 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 30.23
Options exercisable (in shares) | shares 4,797
Options exercisable, weighted-average exercise price (in dollars per share) $ 42.60
Exercise Price Range 6 [Member]  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 8,434,988
Range of exercise prices, lower limit (in dollars per share) $ 3.80
Range of exercise prices, upper limit (in dollars per share) $ 128
Options outstanding, weighted-average remaining contractual life 7 years 343 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 13.64
Options exercisable (in shares) | shares 2,587,392
Options exercisable, weighted-average exercise price (in dollars per share) $ 8.72
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range, Number of Outstanding Options | shares 8,434,988