Note 4 - Fair Value - Quantitative Information about Inputs and Valuation Methodologies Used for Fair Value Measurements Classification (Details) - Senhance Surgical Robotic System Acquisition[Member] - Fair Value, Inputs, Level 3 [Member]	Mar. 31, 2022	Dec. 31, 2021
Measurement Input, Discount Rate [Member]
Contingent consideration, measurement input	0.095	0.095
Measurement Input, Price Volatility [Member]
Contingent consideration, measurement input	0.400	0.390
Measurement Input, Currency Exchange Rate [Member]
Contingent consideration, measurement input	1.11	1.14