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Note 9 - Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2018

Notes Tables

Common Stock Reserved for Future Issuance [Table Text Block]

		Number of Shares
Stock options outstanding			15,264,606
Stock options available for grant			1,354,280
Employee stock purchase plan			195,818
Warrants outstanding			640,164
Shares of common stock underlying Convertible Notes outstanding (see Note 8)			8,472,820
Total shares reserved for future issuance			25,927,688

Share-based Compensation, Stock Options, Activity [Table Text Block]

		Outstanding Options
						Weighted-
						Average
		Number of				Exercise
		Shares				Price
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
Granted			4,300,621				16.17
Exercised			(1,350,605	)			8.49
Cancelled			(1,332,429	)			20.06
Balance at December 31, 2017			13,462,963				15.03
Granted			4,052,011				26.83
Exercised			(1,529,509	)			11.97
Cancelled			(720,859	)			17.98
Balance at December 31, 2018			15,264,606				18.33

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,
		2018								2017								2016
						Weighted-								Weighted-								Weighted-
						Average								Average								Average
						Exercise								Exercise								Exercise
		Options				Price				Options				Price				Options				Price
Exercisable at end of year			6,523,093			$	14.83				5,446,586			$	13.25				4,356,665			$	11.66
Options vested or expected to vest			14,449,017			$	18.11				12,854,571			$	14.98				11,234,529			$	14.32

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
2,635,453			$5.20	–	$9.05			3.03			$	7.99				2,260,453			$	8.12
2,531,622			$9.33	–	$14.20			6.29				12.89				1,406,228				12.66
4,195,066			$14.25	–	$17.00			7.78				16.60				1,512,260				16.54
845,157			$17.05	–	$23.90			7.56				20.52				478,721				20.64
2,860,911			$24.97	–	$24.97			8.94				24.97				—				—
2,196,397			$25.06	–	$39.25			7.42				30.85				865,431				29.71
15,264,606			$5.20	–	$39.25			6.87				18.33				6,523,093				14.83

Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]

		December 31,
		2018				2017				2016
Research and development		$	13,689			$	11,312			$	11,316
General and administrative			9,630				9,469				7,402
Sales and marketing			10,048				9,757				7,238
Total stock-based compensation expense		$	33,367			$	30,538			$	25,956

Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

		December 31,
		2018				2017				2016
Risk-free interest rate			2.8	%			2.1	%			1.7	%
Dividend yield			—	%			—	%			—	%
Volatility			70.4	%			74.0	%			89.1	%
Expected life (years)			6				6				6

		December 31,
		2018				2017				2016
Risk-free interest rate			2.4	%			1.2	%			0.4	%
Dividend yield			—	%			—	%			—	%
Volatility			59.7	%			50.0	%			68.3	%
Expected life (months)			6				6				6

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