Canvas drawings software supports import of PDF documents just fine and can export graphics from it and save it to any of the available graphics formats, including CVX formats which is the default file type used in Canvas. However, for compatibility reasons it would perhaps be better to save it in some common format that works in all kind of graphics software.
Convert Adobe Portable document format to Canvas drawing.
We have found one software suitable in our database for this conversion.
Microsoft Windows software - convert pdf to cvx on Windows
A drawing software used to create technical illustrations and graphics
Convert from pdf file format
The table with program actions contains information about what each program is capable of doing with their files. This may be a good pointer for further searches for certain file conversions and help you find the converter you are looking for if our search result is insufficient for you. However, it is far from perfect and may sometimes show results which are not really usable because of the nature of the software handles the files. So a conversion that appears as possible, just because of matched actions, may in fact not be possible.