Document And Entity Information - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Apr. 22, 2024	Jun. 30, 2023
Document Information [Line Items]
Entity, Registrant Name	ASENSUS SURGICAL, INC.
Current Fiscal Year End Date	--12-31
Document, Fiscal Period Focus	FY
Document, Fiscal Year Focus	2023
Document, Type	10-K/A
Document, Annual Report	true
Document, Period End Date	Dec. 31, 2023
Document, Transition Report	false
Entity, File Number	0-19437
Entity, Incorporation, State or Country Code	DE
Entity, Tax Identification Number	11-2962080
Entity, Address, Address Line One	1 TW Alexander Drive, Suite 160
Entity, Address, City or Town	Durham
Entity, Address, State or Province	NC
Entity, Address, Postal Zip Code	27703
City Area Code	919
Local Phone Number	765-8400
Title of 12(b) Security	Common Stock
Trading Symbol	ASXC
Security Exchange Name	NYSE
Entity, Well-known Seasoned Issuer	No
Entity, Voluntary Filers	No
Entity, Current Reporting Status	Yes
Entity, Interactive Data, Current	Yes
Entity, Filer Category	Non-accelerated Filer
Entity, Small Business	true
Entity, Emerging Growth Company	false
ICFR Auditor Attestation Flag	false
Document, Financial Statement Error Correction Flag	false
Entity, Shell Company	false
Entity, Public Float			$ 120.1
Entity, Common Stock Shares, Outstanding		272,310,307
Auditor Name	BDO USA, P.C.
Auditor Location	Raleigh, NC
Auditor Firm ID	243
Amendment Description	This Amendment No. 1 to Form 10-K (the Form 10-K/A) amends our Annual Report on Form 10-K for the fiscal year ended December 31, 2023, originally filed on March 21, 2024 (the Original Filing). We are filing this Form 10-K/A to include the information required by Part III of Form 10-K that was not included in the Original Filing. Except as described above, no other changes have been made to the Original Filing. The Original Filing continues to speak as of the date filed.
Amendment Flag	true
Entity, Central Index Key	0000876378