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Note 13 - Net Loss Per Share (Tables)
12 Months Ended
Dec. 31, 2018
Notes Tables  
Schedule of Earnings Per Share, Basic and Diluted [Table Text Block]
   
Years ended December 31,
 
   
2018
   
2017
   
2016
 
Numerator:
                       
Net loss
  $
(13,987
)   $
(12,308
)   $
(10,310
)
Denominator:
                       
Weighted average shares used to compute net loss per share, basic and diluted
   
38,377,606
     
38,160,543
     
8,368,284
 
Net loss per share, basic and diluted
  $
(0.36
)   $
(0.32
)   $
(1.23
)
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block]
   
December 31,
 
   
2018
   
2017
   
2016
 
Stock options to purchase common stock
   
5,477,364
     
4,213,100
     
3,491,937
 
Unvested restricted stock units
   
267,359
     
97,996
     
-
 
Common stock warrants    
2,666,666
     
-
     
-
 
Total
   
8,411,389
     
4,311,096
     
3,491,937