| Document And Entity Information | Jul. 22, 2021 |
| Document Information [Line Items] | |
| Entity, Registrant Name | Asensus Surgical, Inc. |
| Document, Type | 8-K |
| Document, Period End Date | Jul. 22, 2021 |
| Entity, Incorporation, State or Country Code | DE |
| Entity, File Number | 0-19437 |
| 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 |
| Written Communications | false |
| Soliciting Material | false |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
| Title of 12(b) Security | Common Stock |
| Trading Symbol | ASXC |
| Security Exchange Name | NYSEAMER |
| Entity, Emerging Growth Company | false |
| Amendment Flag | false |
| Entity, Central Index Key | 0000876378 |
