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Note 3 - Fair Value Measurements (Tables)
12 Months Ended
Dec. 31, 2017
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
December 31
,
2017
   
Quoted Prices in
Active
Markets
for Identical
Assets
(Level 1)
   
Significant
Other
Observable
Inputs
(Level 2)
   
Significant
Unobservable
Inputs
(Level 3)
 
Money market funds
  $
91,386
    $
91,386
    $
    $
 
U.S.
corporate debt securities
   
17,520
     
     
17,520
     
 
U.S.
commercial paper
   
39,863
     
     
39,863
     
 
Foreign commercial paper
   
19,854
     
     
19,854
     
 
Total
  $
168,623
    $
91,386
    $
77,237
    $
 
   
 
Fair Value Measurements at Reporting Date Using
 
   
Balance at
December 31
,
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
  $
11,493
    $
11,493
    $
    $
 
U.S.
corporate debt securities
   
12,039
     
     
12,039
     
 
Foreign corporate debt securities
   
14,057
     
     
14,057
     
 
U.S.
commercial paper
   
8,635
     
     
8,635
     
 
Foreign commercial paper
   
2,993
     
     
2,993
     
 
Total
  $
49,217
    $
11,493
    $
37,724
    $