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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance (in shares) |  |  | 116,000 |
Beginning balance | $ 8,530.5 | $ 7,040.4 | $ 8,284.7 | $ 6,687.5
Issuance of common stock through employee stock plans | 62.7 | 30.8 | 154.0 | 119.6
Shares withheld related to net share settlement of equity awards | (6.2) | (6.4) | (155.1) | (145.0)
Share-based compensation expense related to employee stock plans | 95.9 | 81.6 | 186.5 | 157.7
Repurchase and retirement of common stock |  | (200.0) | (100.0) | (200.0)
Net income attributable to Intuitive Surgical, Inc. | 68.0 | 318.3 | 381.5 | 624.8
Other comprehensive income (loss) | 13.3 | 16.8 | 10.0 | 29.4
Capital contribution from noncontrolling interest |  |  | 0.0 | 10.0
Less: net loss attributable to noncontrolling interest in joint venture | $ 2.2 | (1.9) | $ 4.9 | (4.4)
Ending balance (in shares) | 117,000 |  | 117,000 |
Ending balance | $ 8,766.4 | $ 7,279.6 | $ 8,766.4 | $ 7,279.6
Adoption of new accounting standard |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance |  |  | $ (0.1) |
Common Stock |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance (in shares) | 116,600 | 115,400 | 116,000 | 114,500
Beginning balance | $ 0.1 | $ 0.1 | $ 0.1 | $ 0.1
Issuance of common stock through employee stock plans (in shares) | 400 | 200 | 1,500 | 1,400
Shares withheld related to net share settlement of equity awards |  |  | (300) | 300
Repurchase and retirement of common stock (in shares) |  | (400) | (200) | (400)
Ending balance (in shares) | 117,000 | 115,200 | 117,000 | 115,200
Ending balance | $ 0.1 | $ 0.1 | $ 0.1 | $ 0.1
Additional Paid-In Capital |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance | 5,926.8 | 5,328.8 | 5,756.8 | 5,170.3
Issuance of common stock through employee stock plans | 62.7 | 30.8 | 154.0 | 119.6
Shares withheld related to net share settlement of equity awards | (0.3) | (0.3) | (7.0) | (6.7)
Share-based compensation expense related to employee stock plans | 95.9 | 81.6 | 186.5 | 157.7
Repurchase and retirement of common stock |  | (10.8) | (5.2) | (10.8)
Ending balance | 6,085.1 | 5,430.1 | 6,085.1 | 5,430.1
Retained Earnings |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance | 2,570.9 | 1,696.0 | 2,494.5 | 1,521.7
Shares withheld related to net share settlement of equity awards | (5.9) | (6.1) | (148.1) | (138.3)
Repurchase and retirement of common stock |  | (189.2) | (94.8) | (189.2)
Net income attributable to Intuitive Surgical, Inc. | 68.0 | 318.3 | 381.5 | 624.8
Ending balance | 2,633.0 | 1,819.0 | 2,633.0 | 1,819.0
Retained Earnings | Adoption of new accounting standard |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance |  |  | (0.1) |
Accumulated Other Comprehensive Income (Loss) |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance | 8.9 | (0.7) | 12.4 | (13.3)
Other comprehensive income (loss) | 13.4 | 16.8 | 9.9 | 29.4
Ending balance | 22.3 | 16.1 | 22.3 | 16.1
Total Intuitive Surgical, Inc. Stockholders’ Equity |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance | 8,506.7 | 7,024.2 | 8,263.8 | 6,678.8
Issuance of common stock through employee stock plans | 62.7 | 30.8 | 154.0 | 119.6
Shares withheld related to net share settlement of equity awards | (6.2) | (6.4) | (155.1) | (145.0)
Share-based compensation expense related to employee stock plans | 95.9 | 81.6 | 186.5 | 157.7
Repurchase and retirement of common stock |  | (200.0) | (100.0) | (200.0)
Net income attributable to Intuitive Surgical, Inc. | 68.0 | 318.3 | 381.5 | 624.8
Other comprehensive income (loss) | 13.4 | 16.8 | 9.9 | 29.4
Ending balance | 8,740.5 | 7,265.3 | 8,740.5 | 7,265.3
Total Intuitive Surgical, Inc. Stockholders’ Equity | Adoption of new accounting standard |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance |  |  | (0.1) |
Noncontrolling Interest in Joint Venture |  |  |  |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |
Beginning balance | 23.8 | 16.2 | 20.9 | 8.7
Other comprehensive income (loss) | (0.1) |  | 0.1 |
Capital contribution from noncontrolling interest |  |  |  | 10.0
Less: net loss attributable to noncontrolling interest in joint venture | 2.2 | (1.9) | 4.9 | (4.4)
Ending balance | $ 25.9 | $ 14.3 | $ 25.9 | $ 14.3

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