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]	Jun. 30, 2023	Dec. 31, 2022
Milestone Date, Year [Member]
Contingent consideration milestone dates	Dec. 31, 2032	Dec. 31, 2032
Measurement Input, Discount Rate [Member]
Contingent consideration, measurement input	0.150	0.165
Measurement Input, Price Volatility [Member]
Contingent consideration, measurement input	0.450	0.450
Measurement Input, Currency Exchange Rate [Member]
Contingent consideration, measurement input	1.09	1.07