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Note 2 - Summary of Significant Accounting Policies 1 (Details Textual) $ in Thousands, € in Millions				3 Months Ended			9 Months Ended			12 Months Ended
	Jun. 10, 2021 USD ($)	Jan. 29, 2021 USD ($)	Jan. 12, 2021 USD ($)	Sep. 30, 2021 USD ($)	Mar. 31, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)	Sep. 30, 2021 EUR (€)	Sep. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Retained Earnings (Accumulated Deficit), Ending Balance				$ (769,493)			$ (769,493)			$ (722,912)
Working Capital				125,400			125,400
Proceeds from Warrant Exercises							30,600
Cash, Cash Equivalents, Short-term and Long-term Investments, Excluding Restricted Cash				147,900			147,900
Restricted Cash and Cash Equivalents, Noncurrent, Total				1,200			1,200			1,200
Debt Securities, Available-for-sale, Total				88,114			88,114			0
Debt Securities, Available-for-sale, Realized Gain (Loss), Total				0		$ 0	0		$ 0
Other Comprehensive Income (Loss), Reclassification Adjustment from AOCI for Sale of Securities, before Tax, Total				0		0	0		0
Accounts Receivable, Allowance for Credit Loss, Ending Balance				1,700			1,700			1,800
Property, Plant and Equipment, Including Purchased Software, Impairment Charges				0		0	0		0
Other Income, Employer Retention Tax Credit				1,311		0	1,311		0
Business Combination, Contingent Consideration, Liability, Total				4,949			$ 4,949			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		200	$ 900		400
Revenue, Remaining Performance Obligation, Amount				2,700			2,700			3,100
Contract with Customer, Asset, after Allowance for Credit Loss, Current, Total				100			100			100
Contract with Customer, Liability, Revenue Recognized				100		100	500		500
Inventory Write-down				100		0	377		0
Share-based Payment Arrangement, Expense				3,000		1,900	$ 6,600		5,800
Number of Operating Segments							1	1
Assets, Total				199,759			$ 199,759			78,258
Non-US [Member]
Assets, Total				45,500			45,500			$ 56,800
Senhance Surgical Robotic System Acquisition[Member]
Business Combination, Contingent Consideration, Liability, Total				4,900			$ 4,900
Business Combination, Contingent Consideration, Liability, Related Milestone \| €								€ 15
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							58.00%	58.00%
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
Concentration Risk, Percentage				61.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Nine Customers [Member]
Number of Major Customers						9			9
Concentration Risk, Percentage						57.00%			58.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Two Customers [Member]
Number of Major Customers							2	2
Concentration Risk, Percentage							50.00%	50.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| UNITED STATES
Concentration Risk, Percentage				9.00%		36.00%	13.00%	13.00%	29.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Europe [Member]
Concentration Risk, Percentage				82.00%		46.00%	55.00%	55.00%	50.00%
Revenue Benchmark [Member] \| Geographic Concentration Risk [Member] \| Asia [Member]
Concentration Risk, Percentage				9.00%		18.00%	32.00%	32.00%	21.00%
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							58.00%	58.00%		11.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| SWITZERLAND
Concentration Risk, Percentage							23.00%	23.00%		41.00%
Long-lived Assets [Member] \| Geographic Concentration Risk [Member] \| ITALY
Concentration Risk, Percentage							17.00%	17.00%		48.00%
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		$ 1,200