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Note 2 - Summary of Significant Accounting Policies (Details Textual) $ in Thousands, € in Millions		12 Months Ended
	Jun. 10, 2021 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2022 EUR (€)	Dec. 31, 2021 USD ($)
Retained Earnings (Accumulated Deficit), Total		$ (860,935)		$ (785,374)
Working Capital		76,500
Overstated Raw Materials, Amount				2,500
Restricted Cash, Total		1,100		1,100
Debt Securities, Available-for-Sale, Realized Gain (Loss), Total		0		0
Accounts Receivable, Allowance for Credit Loss, Ending Balance		1,600		1,700
Accounts Receivable, Credit Loss Expense (Reversal)		9		144
Property, Plant and Equipment, Including Purchased Software, Impairment Charges		1,400		0
Other Income, Employer Retention Tax Credit		0		1,311
Proceeds From Employee Retention Tax Credit		700
Employer Retention Tax Credit Receivable		554		1,311
Letters of Credit Outstanding, Amount		0
Business Combination, Contingent Consideration, Liability, Total		$ 1,256		$ 2,371
Period Of Service Sale Arrangement (Year)		5 years	5 years
Period of Service Sale Arrangement at Stated Service Price (Year)		4 years	4 years
Lessor, Operating Lease, Payments to be Received, Total		$ 2,200
Number of Operating Segments		1	1
Senhance Surgical Robotic System Acquisition[Member]
Business Combination, Contingent Consideration, Liability, Total		$ 1,300
Business Combination, Contingent Consideration, Liability, Related Milestone \| €			€ 15
Letter of Credit [Member]
Line of Credit Facility, Remaining Borrowing Capacity		$ 600
Paycheck Protection Program CARES Act [Member]
Debt Instrument, Decrease, Forgiveness	$ 2,800
Minimum [Member]
Lessee, Operating Lease, Term of Contract (Year)		1 year
Lessee, Operating Lease, Renewal Term (Year)		1 year
Minimum [Member] \| Senhance Surgical Robotic System Acquisition[Member]
Business Combination Contingent Consideration Arrangements Target Revenue \| €			€ 25
Maximum [Member]
Lessee, Operating Lease, Term of Contract (Year)		10 years
Lessee, Operating Lease, Renewal Term (Year)		6 years
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
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| One Customer [Member]
Number of Major Customers		1	1
Concentration Risk, Percentage		69.00%	69.00%
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Three Customers [Member]
Number of Major Customers				3
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Customer One [Member]
Concentration Risk, Percentage				26.00%
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Customer Two [Member]
Concentration Risk, Percentage				20.00%
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| Customer Three [Member]
Concentration Risk, Percentage				14.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| One Customer [Member]
Number of Major Customers		1	1
Concentration Risk, Percentage		47.00%	47.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Customer One [Member]
Concentration Risk, Percentage				36.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Customer Two [Member]
Concentration Risk, Percentage				16.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Two Customers [Member]
Number of Major Customers				2