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Note 10 - Stock-based Compensation - Stock Options Vested and Expected to Vest (Details)
 12 Months Ended
Dec. 31, 2015
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number | shares 1,861,952
Shares of common stock, vested, weighted-average per share exercise price (in dollars per share) | $ / shares $ 4.22
Shares of common stock, vested, weighted-average remaining contractual life 6 years 255 days
Shares of common stock, vested, aggregate intrinsic value | $ $ 0
Shares of common stock, expected to vest (in shares) | shares 1,149,545
Shares of common stock, expected to vest, weighted-average per share exercise price (in dollars per share) | $ / shares $ 3.69
Shares of common stock, expected to vest, weighted-average remaining contractual life 8 years 182 days
Shares of common stock, expected to vest, aggregate intrinsic value | $ $ 0
Shares of common stock, total (in shares) | shares 3,011,498
Shares of common stock, total, weighted-average per share exercise price (in dollars per share) | $ / shares $ 4.01
Shares of common stock, total, weighted-average remaining contractual life 7 years 146 days
Shares of common stock, total, aggregate intrinsic value | $ $ 0