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Commitments and Contingencies - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2018
Jun. 11, 2018
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Commitments and Contingencies Disclosure [Abstract]          
Operating lease maximum term (in years)     15 years    
Other commitments $ 711.2   $ 711.2    
Commitments And Contingencies [Line Items]          
Pre-tax settlement charges     45.2    
Accrued liabilities, product liability claims 53.0   53.0 $ 12.8  
Settlement agreement payment   $ 42.5      
Pre-tax loss     42.5    
Prepaid and other current assets          
Commitments And Contingencies [Line Items]          
Settlement agreement payment 42.5        
da Vinci Surgical System Product Liability Matters          
Commitments And Contingencies [Line Items]          
Pre-tax settlement charges     2.7 16.3 $ 8.3
Accrued liabilities, product liability claims $ 10.5   $ 10.5 $ 12.8