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Note 6 - Equity Incentive Plan (Tables)
6 Months Ended
Jun. 30, 2018
Notes Tables  
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
    Six Months Ended June 30,
    2018   2017
Risk free interest rate  
2.15%
-
2.75%
 
1.65%
-
1.78%
Expected volatility  
37.12%
-
40.81%
 
42.54%
-
44.30%
Expected life (years)  
4.0
-
4.5
 
 
4.0
 
Expected dividend yield  
 
0.00%
 
 
 
0.00%
 
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block]
    Three Months Ended June 30,   Six Months Ended June 30,
    2018   2017   2018   2017
Cost of product revenue   $
(28
)   $
102
    $
(244
)   $
199
 
Research and development    
241
     
153
     
451
     
163
 
Selling, general and administrative    
1,109
     
1,029
     
8,680
     
2,103
 
Total stock-based compensation expense   $
1,322
    $
1,284
    $
8,887
    $
2,465
 
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block]
    Three Months Ended June 30,   Six Months Ended June 30,
    2018   2017   2018   2017
Grants:                
Stock options    
17,500
     
5,500
     
209,800
     
410,135
 
RSAs    
-
     
-
     
64,578
     
-
 
RSUs    
-
     
-
     
8,130
     
9,970
 
Exercises:                                
Stock options    
273,123
     
3,850
     
284,548
     
9,437
 
SARs    
-
     
-
     
-
     
5,000