Note 3 - Fair Value - Quantitative Information about Inputs and Valuation Methodologies Used for Fair Value Measurements Classification (Details)	Sep. 30, 2021	Dec. 31, 2020 yr $ / shares
Milestone Date, Year [Member] \| Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member] \| Minimum [Member]
Contingent consideration, measurement input	2,025	2,024
Milestone Date, Year [Member] \| Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member] \| Maximum [Member]
Contingent consideration, measurement input	2,029	2,029
Measurement Input, Discount Rate [Member] \| Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member]
Contingent consideration, measurement input	0.095	0.095
Measurement Input, Price Volatility [Member] \| Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member]
Contingent consideration, measurement input	0.70	0.710
Series B Warrant [Member]
Share price (in dollars per share) \| $ / shares		$ 0.63
Series B Warrant [Member] \| Measurement Input, Expected Term [Member]
Warrants, measurement input (Year) \| yr		1.32
Series B Warrant [Member] \| Measurement Input, Risk Free Interest Rate [Member]
Warrants, measurement input (Year)		0.0010
Series B Warrant [Member] \| Measurement Input, Expected Dividend Payment [Member]
Warrants, measurement input (Year)		0
Series B Warrant [Member] \| Measurement Input, Price Volatility [Member]
Warrants, measurement input (Year)		1.5097

Value of input used to measure contingent consideration liability from business combination.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (bbb)(2)
-URI http://asc.fasb.org/extlink&oid=123874694&loc=d3e19207-110258

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