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Note 4 - Fair Value Measurements (Tables)
 9 Months Ended
Sep. 30, 2016
Notes Tables  
Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis [Table Text Block]
         
Fair Value Measurements at Reporting Date Using
  
 
 
Balance at
September 30
,
2016
 
 
Quoted Prices in
Active Markets
for Identical
Assets
(Level 1)*
 
 
Significant
Other
Observable
Inputs
(Level 2)*
 
 
Significant
Unobservable
Inputs
(Level 3)
 
Money market funds
   $ 38,265     $ 38,265     $ —     $ —  
United States corporate debt securities
     17,086       —       17,086       —  
Foreign corporate debt securities
     14,127       —       14,127       —  
United States commercial paper
     11,612       —       11,612       —  
Foreign commercial paper
     5,982       —       5,982       —  
Total
   $ 87,072     $ 38,265     $ 48,807     $ —