Note 4 - Fair Value Measurements - Quantitative Information about Inputs and Valuation Methodologies - Warrants (Details)	Mar. 31, 2024	Dec. 31, 2023
Measurement Input, Price Volatility [Member] | Senhance Surgical Robotic System Acquisition[Member] | Fair Value, Inputs, Level 3 [Member]
Measurement Input	0.325	0.35
Measurement Input, Price Volatility [Member] | Warrant [Member]
Measurement Input	1.16	1.17
Measurement Input, Risk Free Interest Rate [Member] | Warrant [Member]
Measurement Input	0.042	0.038
Measurement Input, Discount Rate [Member] | Senhance Surgical Robotic System Acquisition[Member] | Fair Value, Inputs, Level 3 [Member]
Measurement Input	0.10	0.10
Measurement Input, Expected Term [Member] | Warrant [Member]
Measurement Input	4.3	4.6
Measurement Input, Currency Exchange Rate [Member] | Senhance Surgical Robotic System Acquisition[Member] | Fair Value, Inputs, Level 3 [Member]
Measurement Input	1.08	1.1
Measurement Input, Expected Dividend Rate [Member] | Warrant [Member]
Measurement Input	0	0
Measurement Input, Probability Rate [Member] | Senhance Surgical Robotic System Acquisition[Member] | Fair Value, Inputs, Level 3 [Member]
Measurement Input	0.50