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Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Millions |  |  | 12 Months Ended
--- | --- | --- | ---
Dec. 31, 2018 | Jun. 11, 2018 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract] |  |  |  |  |
Other commitments |  |  | $ 845.0 |  |
Commitments And Contingencies [Line Items] |  |  |  |  |
Pre-tax settlement charges |  |  | 0.5 | $ 45.2 | $ 16.3
Accrued liabilities, product liability claims | $ 53.0 |  | 4.2 | 53.0 |
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 |  |  | 0.5 | 2.7 | $ 16.3
Accrued liabilities, product liability claims | $ 10.5 |  | $ 4.2 | $ 10.5 |

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- Definition Amount of gain (loss) recognized in settlement of litigation and insurance claims. Excludes claims within an insurance entity's normal claims settlement process. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 450 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=118942415&loc=d3e14326-108349 + Details
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