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Note 6 - Fair Value of Financial Instruments (Tables)
9 Months Ended
Sep. 30, 2016
Notes Tables  
Schedule of Fair Value, Assets and Liabilities Measured on Recurring Basis [Table Text Block]
   
Fair Value
   
Fair value measurement using
 
   
September
30,
2016
   
Level 1
   
Level 2
   
Level 3
 
                                 
Assets:
                               
Cash and cash equivalents
  $ 12,383     $ 12,383     $     $  
Certificate of deposit
    225       225              
Total assets   $ 12,608     $ 12,608     $     $  
   
Fair Value
   
Fair value measurement using
 
   
December 31,
2015
   
Level 1
   
Level 2
   
Level 3
 
                                 
Assets:
                               
Cash and cash equivalents
  $ 38,722     $ 38,722     $     $  
Certificate of deposit
    225       225              
Total a
ssets
  $ 38,947     $ 38,947     $     $  
                                 
Liabilities:
                               
Common stock warrant liability
  $ 223     $     $     $ 223  
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Table Text Block]
(in thousands)
 
Fair Value Measurements of Common Stock Warrants Using Significant Unobservable Inputs
(Level 3)
 
         
Balance at December 31, 2015
  $ 223  
Change in fair value of common stock warrant liability
    (223 )
Balance at September
30, 2016
  $  
(in thousands)
 
Fair Value Measurements of Common Stock Warrants Using Significant Unobservable Inputs
(Level 3)
 
         
Balance at December 31, 2014
  $ 1,258  
Exercise of warrants
    (184 )
Change in fair value of common stock warrant liability
    (577 )
Balance at September
30, 2015
  $ 497  
Significant Unobservable Input Assumption Used for Valuation [Table Text Block]
Significant Unobservable Input
Assumptions of Level 3 Valuations
 
September
30,
2016
   
September
30,
2015
 
                 
Historical volatility
          99 %
Expected term (in years)
          0.4  
Risk-free interest rate
          0.05 %