Note 20 - Commitments and Contingencies (Details Textual) - Senhance Surgical Robotic System Acquisition[Member] - License and Supply Agreement [Member] $ in Millions	Dec. 31, 2021 USD ($)
Contractual Obligation, to be Paid, Year One	$ 2.3
Contractual Obligation, to be Paid, Year Two	0.1
Contractual Obligation, to be Paid, Year Three	$ 0.2

Amount of contractual obligation to be paid in next fiscal year following current fiscal year. Excludes interim and annual periods when interim periods are reported from current statement of financial position date (rolling approach).

No definition available.

Name:	us-gaap_ContractualObligationDueInNextTwelveMonths
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant