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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Revenue:        
Total revenue $ 1,077.7 $ 1,128.2 $ 3,029.3 $ 3,200.8
Cost of revenue:        
Total cost of revenue 353.4 342.6 1,063.9 986.6
Gross profit 724.3 785.6 1,965.4 2,214.2
Operating expenses:        
Selling, general and administrative 298.9 284.0 886.1 836.6
Research and development 155.0 135.9 445.3 400.7
Total operating expenses 453.9 419.9 1,331.4 1,237.3
Income from operations 270.4 365.7 634.0 976.9
Interest and other income, net 84.8 33.3 136.5 93.6
Income before taxes 355.2 399.0 770.5 1,070.5
Income tax expense 38.4 0.3 67.3 51.4
Net income 316.8 398.7 703.2 1,019.1
Less: net loss attributable to noncontrolling interest in joint venture 2.9 1.9 7.8 (2.5)
Net income attributable to Intuitive Surgical, Inc. $ 313.9 $ 396.8 $ 695.4 $ 1,021.6
Net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in dollars per share) $ 2.68 $ 3.44 $ 5.95 $ 8.86
Diluted (in dollars per share) $ 2.60 $ 3.33 $ 5.80 $ 8.56
Shares used in computing net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in shares) 117.3 115.4 116.8 115.3
Diluted (in shares) 120.6 119.3 120.0 119.4
Total comprehensive income attributable to Intuitive Surgical, Inc. $ 307.8 $ 398.5 $ 699.2 $ 1,052.7
Product        
Revenue:        
Total revenue 898.4 944.8 2,521.0 2,666.9
Cost of revenue:        
Total cost of revenue 287.7 277.3 868.2 807.1
Service        
Revenue:        
Total revenue 179.3 183.4 508.3 533.9
Cost of revenue:        
Total cost of revenue $ 65.7 $ 65.3 $ 195.7 $ 179.5