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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018 | Jan. 01, 2019
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance (in shares) |  |  | 114,500 |  |
Beginning balance | $ 7,279.6 | $ 5,869.2 | $ 6,687.5 | $ 4,780.4 |
Adoption of new accounting standards |  |  |  |  | $ 390.8
Issuance of common stock through employee stock plans | 86.1 | 64.7 | 205.7 | 199.6 |
Shares withheld related to net share settlement of equity awards | (7.9) | (7.0) | (152.9) | (115.0) |
Share-based compensation expense related to employee stock plans | 88.9 | 70.1 | 246.6 | 190.9 |
Repurchase and retirement of common stock | (69.5) |  | (269.5) |  |
Net income attributable to Intuitive Surgical, Inc. | 396.8 | 292.5 | 1,021.6 | 835.4 |
Other comprehensive income | 1.2 | (0.3) | 30.6 | 0.1 |
Capital contribution from noncontrolling interest |  |  | 10.0 | 8.0 |
Less: net loss attributable to noncontrolling interest in joint venture | $ 1.9 | (0.7) | $ (2.5) | (1.7) |
Ending balance (in shares) | 115,600 |  | 115,600 |  |
Ending balance | $ 7,777.1 | $ 6,288.5 | $ 7,777.1 | $ 6,288.5 |
Common Stock |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance (in shares) | 115,200 | 113,700 | 114,500 | 112,300 |
Beginning balance | $ 0.1 | $ 0.1 | $ 0.1 | $ 0.1 |
Issuance of common stock through employee stock plans (in shares) | 600 | 500 | 2,000 | 2,200 |
Shares withheld related to net share settlement of equity awards | 0 | 0 | (300) | (300) |
Repurchase and retirement of common stock (in shares) | (200) |  | (600) |  |
Ending balance (in shares) | 115,600 | 114,200 | 115,600 | 114,200 |
Ending balance | $ 0.1 | $ 0.1 | $ 0.1 | $ 0.1 |
Additional Paid-In Capital |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance | 5,430.1 | 4,928.8 | 5,170.3 | 4,679.2 |
Issuance of common stock through employee stock plans | 86.1 | 64.7 | 205.7 | 199.6 |
Shares withheld related to net share settlement of equity awards | (0.5) | (0.4) | (7.2) | (6.5) |
Share-based compensation expense related to employee stock plans | 88.9 | 70.1 | 246.6 | 190.9 |
Repurchase and retirement of common stock | (3.7) |  | (14.5) |  |
Ending balance | 5,600.9 | 5,063.2 | 5,600.9 | 5,063.2 |
Retained Earnings |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance | 1,819.0 | 948.1 | 1,521.7 | 115.0 |
Adoption of new accounting standards |  |  |  |  | 392.1
Shares withheld related to net share settlement of equity awards | (7.4) | (6.6) | (145.7) | (108.5) |
Repurchase and retirement of common stock | (65.8) |  | (255.0) |  |
Net income attributable to Intuitive Surgical, Inc. | 396.8 | 292.5 | 1,021.6 | 835.4 |
Ending balance | 2,142.6 | 1,234.0 | 2,142.6 | 1,234.0 |
Accumulated Other Comprehensive Income (Loss) |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance | 16.1 | (16.4) | (13.3) | (15.5) |
Adoption of new accounting standards |  |  |  |  | (1.3)
Other comprehensive income | 1.7 | (0.3) | 31.1 | 0.1 |
Ending balance | 17.8 | (16.7) | 17.8 | (16.7) |
Total Intuitive Surgical, Inc. Stockholders’ Equity |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance | 7,265.3 | 5,860.6 | 6,678.8 | 4,778.8 |
Adoption of new accounting standards |  |  |  |  | $ 390.8
Issuance of common stock through employee stock plans | 86.1 | 64.7 | 205.7 | 199.6 |
Shares withheld related to net share settlement of equity awards | (7.9) | (7.0) | (152.9) | (115.0) |
Share-based compensation expense related to employee stock plans | 88.9 | 70.1 | 246.6 | 190.9 |
Repurchase and retirement of common stock | (69.5) |  | (269.5) |  |
Net income attributable to Intuitive Surgical, Inc. | 396.8 | 292.5 | 1,021.6 | 835.4 |
Other comprehensive income | 1.7 | (0.3) | 31.1 | 0.1 |
Ending balance | 7,761.4 | 6,280.6 | 7,761.4 | 6,280.6 |
Noncontrolling Interest in Joint Venture |  |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |
Beginning balance | 14.3 | 8.6 | 8.7 | 1.6 |
Other comprehensive income | (0.5) |  | (0.5) |  |
Capital contribution from noncontrolling interest |  |  | 10.0 | 8.0 |
Less: net loss attributable to noncontrolling interest in joint venture | 1.9 | (0.7) | (2.5) | (1.7) |
Ending balance | $ 15.7 | $ 7.9 | $ 15.7 | $ 7.9 |

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