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Note 8 - Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2016
Notes Tables |
Common Stock Reserved for Future Issuance [Table Text Block] |
|  | Number of Shares |
Stock options outstanding |  |  | 11,845,376 |
Stock options available for grant |  |  | 2,653,548 |
Employee stock purchase plan |  |  | 144,600 |
Warrants outstanding |  |  | 600,000 |
Shares of common stock underlying Convertible Notes outstanding (see Note 7) |  |  | 7,521,416 |
Total shares reserved for future issuance |  |  | 22,764,940 |
Schedule of Share-based Compensation, Stock Options, Activity [Table Text Block] |
|  | Outstanding Options |
|  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |
|  | Number of |  |  | Exercise |
|  | Shares |  |  | Price |
Balance at December 31, 2013 |  |  | 6,355,681 |  |  | $ | 8.22 |
Granted |  |  | 3,181,001 |  |  |  | 9.40 |
Exercised |  |  | (756,593 | ) |  |  | 6.34 |
Cancelled |  |  | (862,085 | ) |  |  | 9.88 |
Balance at December 31, 2014 |  |  | 7,918,004 |  |  |  | 8.69 |
Granted |  |  | 2,134,505 |  |  |  | 28.95 |
Exercised |  |  | (1,042,343 | ) |  |  | 9.15 |
Cancelled |  |  | (575,178 | ) |  |  | 10.42 |
Balance at December 31, 2015 |  |  | 8,434,988 |  |  |  | 13.64 |
Granted |  |  | 4,920,661 |  |  |  | 15.98 |
Exercised |  |  | (798,363 | ) |  |  | 8.37 |
Cancelled |  |  | (711,910 | ) |  |  | 22.43 |
Balance at December 31, 2016 |  |  | 11,845,376 |  |  | $ | 14.44 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable [Table Text Block] |
|  | Years Ended December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
|  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |  |  |  |  |  |  | Average |  |  |  |  |  |  | Average |
|  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |
|  | Options |  |  | Price |  |  | Options |  |  | Price |  |  | Options |  |  | Price |
Exercisable at end of year |  |  | 4,356,665 |  |  | $ | 11.66 |  |  |  | 2,587,392 |  |  | $ | 8.72 |  |  |  | 2,237,901 |  |  | $ | 9.01 |
Options vested or expected to vest |  |  | 11,234,529 |  |  | $ | 14.32 |  |  |  | 8,059,481 |  |  | $ | 13.38 |  |  |  | 7,841,074 |  |  | $ | 8.69 |
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block] |
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | Weighted- |
|  |  |  |  |  |  |  |  | Weighted- |  |  |  |  |  |  |  |  |  |  | Average |
|  |  |  |  |  |  |  |  | Average |  |  | Weighted- |  |  |  |  |  |  | Exercise |
|  |  |  |  |  |  |  |  | Remaining |  |  | Average |  |  |  |  |  |  | Price of |
Options |  |  | Range of |  |  | Contractual |  |  | Exercise |  |  | Options |  |  | Options |
Outstanding |  |  | Exercise Prices |  |  | Life (in years) |  |  | Price |  |  | Exercisable |  |  | Exercisable |
581,518 |  |  |  | $3.80 | – | 7.00 |  |  |  | 1.01 |  |  | $ | 6.02 |  |  |  | 581,518 |  |  | $ | 6.02 |
1,935,473 |  |  |  |  | $7.20 |  |  |  |  | 6.28 |  |  |  | 7.20 |  |  |  | 1,054,143 |  |  |  | 7.20 |
1,793,013 |  |  |  | $7.61 | – | 9.05 |  |  |  | 7.09 |  |  |  | 8.93 |  |  |  | 1,104,899 |  |  |  | 8.94 |
843,387 |  |  |  | $9.20 | – | 12.65 |  |  |  | 4.23 |  |  |  | 10.33 |  |  |  | 736,434 |  |  |  | 10.39 |
2,271,111 |  |  |  |  | $13.00 |  |  |  |  | 9.97 |  |  |  | 13.00 |  |  |  | — |  |  |  | — |
548,025 |  |  |  | $13.20 | – | 16.62 |  |  |  | 7.38 |  |  |  | 15.46 |  |  |  | 202,650 |  |  |  | 14.57 |
1,241,350 |  |  |  |  | $16.83 |  |  |  |  | 9.71 |  |  |  | 16.83 |  |  |  | 51,320 |  |  |  | 16.83 |
1,226,884 |  |  |  | $17.10 | – | 28.30 |  |  |  | 8.41 |  |  |  | 22.48 |  |  |  | 164,692 |  |  |  | 26.76 |
1,203,272 |  |  |  | $28.73 | – | 29.86 |  |  |  | 8.49 |  |  |  | 29.44 |  |  |  | 395,686 |  |  |  | 29.44 |
201,343 |  |  |  | $29.95 | – | 102.40 |  |  |  | 8.61 |  |  |  | 34.78 |  |  |  | 65,323 |  |  |  | 35.03 |
11,845,376 |  |  |  | $3.80 | – | 102.40 |  |  |  | 7.60 |  |  |  | 14.44 |  |  |  | 4,356,665 |  |  |  | 11.66 |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] |
|  | December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Research and development |  | $ | 11,316 |  |  | $ | 4,701 |  |  | $ | 3,329 |
General and administrative |  |  | 7,402 |  |  |  | 6,282 |  |  |  | 2,532 |
Sales and marketing |  |  | 7,238 |  |  |  | 3,377 |  |  |  | 2,206 |
Stock-based compensation expense included in operating expenses |  | $ | 25,956 |  |  | $ | 14,360 |  |  | $ | 8,067 |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Risk-free interest rate |  |  | 1.7 | % |  |  | 1.7 | % |  |  | 1.9 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 89.1 | % |  |  | 92.7 | % |  |  | 99.0 | %
Expected life (years) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |
|  | December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Risk-free interest rate |  |  | 0.4 | % |  |  | 0.1 | % |  |  | 0.1 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 68.3 | % |  |  | 86.7 | % |  |  | 53.8 | %
Expected life (months) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |

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