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Note 2 - Summary of Significant Accounting Policies 1 (Details Textual) $ in Thousands, € in Millions				3 Months Ended			6 Months Ended			12 Months Ended
	Jun. 10, 2021 USD ($)	Jan. 29, 2021 USD ($)	Jan. 12, 2021 USD ($)	Jun. 30, 2021 USD ($)	Mar. 31, 2021 USD ($)	Jun. 30, 2020 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2021 EUR (€)	Jun. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Retained Earnings (Accumulated Deficit), Ending Balance				$ (753,424)			$ (753,424)			$ (722,912)
Working Capital				165,700			165,700
Proceeds from Warrant Exercises							30,600
Cash and Cash Equivalents, at Carrying Value, Ending Balance				157,078			157,078			16,363
Restricted Cash and Cash Equivalents, Noncurrent, Total				1,000			1,000			1,200
Accounts Receivable, Allowance for Credit Loss, Ending Balance				1,700			1,700			1,800
Impairment of Intangible Assets, Finite-lived				0		$ 0	0		$ 0
Business Combination, Contingent Consideration, Liability, Total				4,671			$ 4,671			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	$ 700		200
Revenue, Remaining Performance Obligation, Amount				3,200			3,200			3,100
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total				100			100			100
Contract with Customer, Liability, Revenue Recognized				200		400	400		600
Inventory Write-down				200		0	288		0
Share-based Payment Arrangement, Expense				1,800		1,900	$ 3,600		3,900
Number of Operating Segments							1	1
Assets, Total				212,004			$ 212,004			78,258
Non-US [Member]
Assets, Total				47,600			47,600			$ 56,800
Senhance Surgical Robotic System Acquisition[Member]
Business Combination, Contingent Consideration, Liability, Total				4,700			$ 4,700
Paycheck Protection Program CARES Act [Member]
Debt Instrument, Decrease, Forgiveness	$ 2,800
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	$ 0		$ 0
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Four Customers [Member]
Number of Major Customers							4	4
Concentration Risk, Percentage							59.00%	59.00%
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] \| Seven Customers [Member]
Number of Major Customers						7	4	4	9
Concentration Risk, Percentage						60.00%	54.00%	54.00%	65.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Five Customers [Member]
Number of Major Customers				5
Concentration Risk, Percentage				39.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage				25.00%		24.00%	17.00%	17.00%	25.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Europe [Member]
Concentration Risk, Percentage				53.00%		56.00%	32.00%	32.00%	52.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Asia [Member]
Concentration Risk, Percentage				22.00%		20.00%	51.00%	51.00%	23.00%
Assets, Total [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage							77.00%	77.00%		27.00%
Assets, Total [Member] \| Geographic Concentration Risk [Member] \| Non-US [Member]
Concentration Risk, Percentage							23.00%	23.00%		73.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage							21.00%	21.00%		11.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| ITALY
Concentration Risk, Percentage							37.00%	37.00%		48.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| SWITZERLAND
Concentration Risk, Percentage							40.00%	40.00%		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				$ 1,000	$ 27,300