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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