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Note 2 - Summary of Significant Accounting Policies 1 (Details Textual) $ in Thousands, € in Millions			3 Months Ended			12 Months Ended
	Jan. 29, 2021 USD ($)	Jan. 12, 2021 USD ($)	Mar. 31, 2021 USD ($)	Mar. 31, 2021 EUR (€)	Mar. 31, 2020 USD ($)	Dec. 31, 2020 USD ($)
Retained Earnings (Accumulated Deficit), Ending Balance			$ (740,252)			$ (722,912)
Working Capital			172,800
Proceeds from Warrant Exercises			30,497		$ 0
Cash and Cash Equivalents, at Carrying Value, Ending Balance			165,245			16,363
Restricted Cash and Cash Equivalents, Noncurrent, Total			1,100			1,200
Accounts Receivable, Allowance for Credit Loss, Ending Balance			1,700			1,800
Impairment of Intangible Assets, Finite-lived			0		0
Business Combination, Contingent Consideration, Liability, Total			$ 4,193			3,936
Period Of Service Sale Arrangement (Year)			5 years	5 years
Period of Service Sale Arrangement at Stated Service Price (Year)			4 years	4 years
Operating Lease, Lease Income, Total			$ 300		100
Revenue, Remaining Performance Obligation, Amount			3,500			3,100
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total			100			100
Contract with Customer, Liability, Revenue Recognized			200		200
Inventory Write-down			122		0
Share-based Payment Arrangement, Expense			$ 1,800		1,900
Number of Operating Segments			1	1
Assets, Total			$ 223,615			78,258
Non-US [Member]
Assets, Total			49,500			$ 56,800
Senhance Surgical Robotic System Acquisition[Member]
Business Combination, Contingent Consideration, Liability, Total			$ 4,200
Minimum [Member] \| Senhance Surgical Robotic System Acquisition[Member]
Business Combination Contingent Consideration Arrangements Target Revenue \| €				€ 25
Patents [Member]
Finite-Lived Intangible Asset, Useful Life (Year)			10 years	10 years
Developed Technology Rights [Member] \| Minimum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)			5 years	5 years
Developed Technology Rights [Member] \| Maximum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)			7 years	7 years
Intellectual Property [Member]
Impairment of Intangible Assets, Finite-lived			$ 0		$ 0
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Two Customers [Member]
Number of Major Customers			2	2
Concentration Risk, Percentage			74.00%	74.00%
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Seven Customers [Member]
Number of Major Customers						7
Concentration Risk, Percentage						68.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| One Customer [Member]
Number of Major Customers			1	1
Concentration Risk, Percentage			57.00%	57.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Eleven Customers [Member]
Number of Major Customers					11
Concentration Risk, Percentage					80.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage			12.00%	12.00%	27.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Europe [Member]
Concentration Risk, Percentage			21.00%	21.00%	48.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Asia [Member]
Concentration Risk, Percentage			67.00%	67.00%	25.00%
Assets, Total [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage			78.00%	78.00%		27.00%
Assets, Total [Member] \| Geographic Concentration Risk [Member] \| Non-US [Member]
Concentration Risk, Percentage			22.00%	22.00%		73.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage			20.00%	20.00%		11.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| ITALY
Concentration Risk, Percentage			41.00%	41.00%		48.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| SWITZERLAND
Concentration Risk, Percentage			38.00%	38.00%		41.00%
Public Offering [Member]
Proceeds from Issuance of Common Stock	$ 79,600		$ 73,400
Registered Direct Offering [Member]
Proceeds from Issuance of Common Stock		$ 28,600	28,600
ATM Offering [Member]
Proceeds from Issuance of Common Stock			$ 27,300