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Note 6 - Debt (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Feb. 28, 2018
Feb. 16, 2018
Sep. 28, 2017
Mar. 18, 2016
Jun. 30, 2018
Jun. 30, 2017
Proceeds from Issuance of Long-term Debt, Total         $ 11,711
Debt Issuance Costs Incurred During Period          
Derivative Liability, Total         100  
Warrants in Connection with Term Loan A [Member] | Additional Paid-in Capital [Member]            
Warrants and Rights Outstanding       $ 200    
Warrants in Connection with Term Loan B [Member] | Additional Paid-in Capital [Member]            
Warrants and Rights Outstanding     $ 400      
Warrants Issued in Connection with Term Loan A and Term Loan B [Member] | Additional Paid-in Capital [Member]            
Warrants and Rights Outstanding $ 500          
Warrants in Connection with Term Loan C [Member]            
Class of Warrant or Right, Increase to Warrant, Percentage of Loan Divided by Market Value of Common Stock       4.50%    
Warrants in Connection with Term Loan C [Member] | Other Noncurrent Liabilities [Member]            
Derivative Liability, Total         200  
Oxford Finance LLC and Silicon Valley Bank [Member] | Warrants in Connection with Term Loan A [Member]            
Class of Warrant or Right, Issued During Period       113,066    
Class of Warrant or Right, Issued During Period, Exercise Price       $ 5.97    
Oxford Finance LLC and Silicon Valley Bank [Member] | Warrants in Connection with Term Loan B [Member]            
Class of Warrant or Right, Issued During Period     45,688      
Class of Warrant or Right, Issued During Period, Exercise Price     $ 12.31      
Oxford Finance LLC and Silicon Valley Bank [Member] | Warrants Issued in Connection with Term Loan A and Term Loan B [Member]            
Class of Warrant or Right, Issued During Period 60,490          
Class of Warrant or Right, Issued During Period, Exercise Price $ 9.30          
Oxford Finance LLC and Silicon Valley Bank [Member] | Term Loan A [Member]            
Debt Agreement, Maximum Borrowing Capacity       $ 15,000    
Oxford Finance LLC and Silicon Valley Bank [Member] | Term Loan B [Member]            
Debt Agreement, Maximum Borrowing Capacity     $ 12,500      
Debt Issuance Costs Incurred During Period     $ 40      
Oxford Finance LLC [Member] | Warrants in Connection with Term Loan A [Member]            
Class of Warrant or Right, Issued During Period       56,533    
Oxford Finance LLC [Member] | Warrants in Connection with Term Loan B [Member]            
Class of Warrant or Right, Issued During Period     22,844      
Oxford Finance LLC [Member] | Warrants Issued in Connection with Term Loan A and Term Loan B [Member]            
Class of Warrant or Right, Issued During Period 30,245          
Silicon Valley Bank [Member] | Warrants in Connection with Term Loan A [Member]            
Class of Warrant or Right, Issued During Period       56,533    
Silicon Valley Bank [Member] | Warrants in Connection with Term Loan B [Member]            
Class of Warrant or Right, Issued During Period     22,844      
Silicon Valley Bank [Member] | Warrants Issued in Connection with Term Loan A and Term Loan B [Member]            
Class of Warrant or Right, Issued During Period 30,245          
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member]            
Debt Agreement, Maximum Borrowing Capacity         $ 45,000  
Debt Instrument, Interest Rate Floor         8.65%  
Debt Instrument, Interest Rate During Period         8.90%  
Debt Instrument, Percentage of Funded Loan Amounts due at Maturity         7.75%  
Proceeds from Issuance of Long-term Debt, Total   $ 40,000        
Repayments of Long-term Debt, Total   27,500        
Loan Amendment Payment   $ 800        
Debt Instrument, Commitment Fee Percentage         5.00%  
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member] | If Term Loan B Funded, Beginning April 2020 [Member]            
Debt Instrument, Number of Monthly Principal and Interest Payments         30  
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member] | Prepayment in First Year After Initial Closing [Member]            
Debt Instrument, Prepayment Fee, Amount         $ 1,300  
Debt Instrument, Prepayment Fee Percentage         3.00%  
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member] | Prepayment in Second Year After Initial Closing [Member]            
Debt Instrument, Prepayment Fee, Amount         $ 1,300  
Debt Instrument, Prepayment Fee Percentage         2.00%  
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member] | Prepayment After Second Year After Initial Closing [Member]            
Debt Instrument, Prepayment Fee, Amount         $ 1,300  
Debt Instrument, Prepayment Fee Percentage         1.00%  
Term Loans [Member] | Oxford Finance LLC and Silicon Valley Bank [Member] | Prime Rate [Member]            
Debt Instrument, Basis Spread on Variable Rate         4.15%  
Term Loan A [Member] | Oxford Finance LLC and Silicon Valley Bank [Member]            
Debt Agreement, Maximum Borrowing Capacity         $ 27,500  
Debt Issuance Costs Incurred During Period       $ 1,500    
Term Loan B [Member] | Oxford Finance LLC and Silicon Valley Bank [Member]            
Debt Agreement, Maximum Borrowing Capacity         12,500  
Term Loan C [Member] | Oxford Finance LLC and Silicon Valley Bank [Member]            
Debt Agreement, Maximum Borrowing Capacity         5,000  
Debt Covenant, Minimum Product Revenue Required for Trailing Six Months         $ 25,000  
Debt Covenant, Maximum Number of Days to Draw Loan After Revenue Requirement         60 days