Note 6 - Fair Value - Quantitative Information about Inputs and Valuation Methodologies Used for Fair Value Measurements Classification (Details)	Dec. 31, 2021 yr $ / shares	Dec. 31, 2020 yr $ / shares	Dec. 31, 2019 yr $ / shares
Series B Warrant [Member]
Share price (in dollars per share) \| $ / shares	$ 4.21	$ 0.63	$ 1.47
Measurement Input, Expected Term [Member] \| Series B Warrant [Member]
Warrants, measurement input (Year) \| yr	1.22	1.32	2.32
Measurement Input, Price Volatility [Member] \| Series B Warrant [Member]
Warrants, measurement input (Year)	1.7400	1.5097	1.0980
Measurement Input, Risk Free Interest Rate [Member] \| Series B Warrant [Member]
Warrants, measurement input (Year)	0.0007	0.0010	0.0159
Measurement Input, Expected Dividend Payment [Member] \| Series B Warrant [Member]
Warrants, measurement input (Year)	0	0	0
Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member] \| Measurement Input, Discount Rate [Member]
Contingent consideration, measurement input	0.095	0.095
Senhance Surgical Robotic System Acquisition[Member] \| Fair Value, Inputs, Level 3 [Member] \| Measurement Input, Price Volatility [Member]
Contingent consideration, measurement input	0.390	0.710

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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Price of a single share of a number of saleable stocks of a company.

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Value of input used to measure outstanding warrant and right embodying unconditional obligation requiring redemption by transferring asset at specified or determinable date or upon event certain to occur.

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