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Note 8 - Stockholders' Equity - Exercise Price Range (Details)
 12 Months Ended
Dec. 31, 2016
$ / shares
shares
Options Outstanding (in shares) | shares 11,845,376
Range of Exercise Prices, Lower Limit (in dollars per share) $ 3.80
Range of Exercise Prices, Upper Limit (in dollars per share) $ 102.40
Weighted-Average Remaining Contractual Life (Year) 7 years 219 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 14.44
Options Exercisable (in shares) | shares 4,356,665
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 11.66
Exercise Price Range 1 [Member]  
Options Outstanding (in shares) | shares 581,518
Range of Exercise Prices, Lower Limit (in dollars per share) $ 3.80
Range of Exercise Prices, Upper Limit (in dollars per share) $ 7
Weighted-Average Remaining Contractual Life (Year) 1 year 3 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 6.02
Options Exercisable (in shares) | shares 581,518
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 6.02
Exercise Price Range 2 [Member]  
Options Outstanding (in shares) | shares 1,935,473
Range of Exercise Prices, Lower Limit (in dollars per share)
Range of Exercise Prices, Upper Limit (in dollars per share)
Weighted-Average Remaining Contractual Life (Year) 6 years 102 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 7.20
Options Exercisable (in shares) | shares 1,054,143
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 7.20
Exercise Price Range 3 [Member]  
Options Outstanding (in shares) | shares 1,793,013
Range of Exercise Prices, Lower Limit (in dollars per share) $ 7.61
Range of Exercise Prices, Upper Limit (in dollars per share) $ 9.05
Weighted-Average Remaining Contractual Life (Year) 7 years 32 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 8.93
Options Exercisable (in shares) | shares 1,104,899
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 8.94
Exercise Price Range 4 [Member]  
Options Outstanding (in shares) | shares 843,387
Range of Exercise Prices, Lower Limit (in dollars per share) $ 9.20
Range of Exercise Prices, Upper Limit (in dollars per share) $ 12.65
Weighted-Average Remaining Contractual Life (Year) 4 years 83 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 10.33
Options Exercisable (in shares) | shares 736,434
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 10.39
Exercise Price Range 5 [Member]  
Options Outstanding (in shares) | shares 2,271,111
Range of Exercise Prices, Lower Limit (in dollars per share)
Range of Exercise Prices, Upper Limit (in dollars per share)
Weighted-Average Remaining Contractual Life (Year) 9 years 354 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 13
Options Exercisable (in shares) | shares
Weighted-Average Exercise Price of Options Exercisable (in dollars per share)
Exercise Price Range 6 [Member]  
Options Outstanding (in shares) | shares 548,025
Range of Exercise Prices, Lower Limit (in dollars per share) $ 13.20
Range of Exercise Prices, Upper Limit (in dollars per share) $ 16.62
Weighted-Average Remaining Contractual Life (Year) 7 years 138 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 15.46
Options Exercisable (in shares) | shares 202,650
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 14.57
Exercise Price Range 7 [Member]  
Options Outstanding (in shares) | shares 1,241,350
Range of Exercise Prices, Lower Limit (in dollars per share)
Range of Exercise Prices, Upper Limit (in dollars per share)
Weighted-Average Remaining Contractual Life (Year) 9 years 259 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 16.83
Options Exercisable (in shares) | shares 51,320
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 16.83
Exercise Price Range 8 [Member]  
Options Outstanding (in shares) | shares 1,226,884
Range of Exercise Prices, Lower Limit (in dollars per share) $ 17.10
Range of Exercise Prices, Upper Limit (in dollars per share) $ 28.30
Weighted-Average Remaining Contractual Life (Year) 8 years 149 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 22.48
Options Exercisable (in shares) | shares 164,692
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 26.76
Exercise Price Range 9 [Member]  
Options Outstanding (in shares) | shares 1,203,272
Range of Exercise Prices, Lower Limit (in dollars per share) $ 28.73
Range of Exercise Prices, Upper Limit (in dollars per share) $ 29.86
Weighted-Average Remaining Contractual Life (Year) 8 years 178 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 29.44
Options Exercisable (in shares) | shares 395,686
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 29.44
Exercise Price Range 10 [Member]  
Options Outstanding (in shares) | shares 201,343
Range of Exercise Prices, Lower Limit (in dollars per share) $ 29.95
Range of Exercise Prices, Upper Limit (in dollars per share) $ 102.40
Weighted-Average Remaining Contractual Life (Year) 8 years 222 days
Weighted-Average Remaining Exercise Price (in dollars per share) $ 34.78
Options Exercisable (in shares) | shares 65,323
Weighted-Average Exercise Price of Options Exercisable (in dollars per share) $ 35.03