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Note 8 - Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Stock options outstanding (in shares) 11,845,376 8,434,988 7,918,004 6,355,681
Stock options available for grant (in shares) 2,653,548      
Employee stock purchase plan (in shares) 144,600      
Warrants outstanding (in shares) 600,000      
Shares of common stock underlying Convertible Notes outstanding (see Note 7) (in shares) 7,521,416      
Total shares reserved for future issuance (in shares) 22,764,940