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Note 2 - Summary of Significant Accounting Policies (Details Textual) $ in Thousands, € in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Dec. 31, 2023 EUR (€)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Retained Earnings (Accumulated Deficit)	$ (939,368)		$ (860,935)
Working Capital	23,800
Equity, Attributable to Parent	33,414		99,645	$ 169,246
Restricted Cash	1,600		1,100
Debt Securities, Available-for-Sale, Realized Gain (Loss)	0		0
Debt Securities, Available-for-Sale, Allowance for Credit Loss, Not to Sell before Recovery, Credit Loss, Previously Recorded, Expense (Reversal)	0		0
Debt Securities, Available-for-Sale, Allowance for Credit Loss	0		0
Accounts Receivable, Allowance for Credit Loss	1,600		1,600
Property, Plant and Equipment, Including Purchased Software, Impairment Charges	400		1,400
Proceeds From Employee Retention Tax Credit	600		700
Business Combination, Contingent Consideration, Liability	$ 2,220		$ 1,256
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, Payment to be Received	$ 2,200
Share-Based Compensation Arrangement by Share-Based Payment Award, Fair Value Assumptions, Expected Dividend Rate	0.00%	0.00%	0.00%
Number of Operating Segments	1	1
Senhance Surgical Robotic System Acquisition[Member]
Business Combination, Contingent Consideration, Liability	$ 2,200
Business Combination, Contingent Consideration, Liability, Related Milestone \| €		€ 15
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
Developed Technology Rights [Member]
Finite-Lived Intangible Asset, Useful Life (Year)	7 years
Intellectual Property [Member]
Impairment of Intangible Assets, Finite-Lived	$ 0		$ 0
Accounts Receivable [Member] \| Customer Concentration Risk [Member]
Number of Major Customers	1	1	1
Accounts Receivable [Member] \| Customer Concentration Risk [Member] \| One Customer [Member]
Concentration Risk, Percentage	83.00%	83.00%	69.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member]
Number of Major Customers	2	2	1
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| One Customer [Member]
Concentration Risk, Percentage			47.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Customer One [Member]
Concentration Risk, Percentage	33.00%	33.00%
Revenue Benchmark [Member] \| Customer Concentration Risk [Member] \| Customer Two [Member]
Concentration Risk, Percentage	19.00%	19.00%
Accumulated Foreign Currency Adjustment Attributable to Parent [Member]
Equity, Attributable to Parent	$ 600		$ 1,900