STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions	3 Months Ended	9 Months Ended
Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance (in shares)			116,000
Beginning balance	$ 8,766.4	$ 7,279.6	$ 8,284.7	$ 6,687.5
Issuance of common stock through employee stock plans	113.9	86.1	267.9	205.7
Shares withheld related to net share settlement of equity awards	(10.2)	(7.9)	(165.3)	(152.9)
Share-based compensation expense related to employee stock plans	105.8	88.9	292.3	246.6
Repurchase and retirement of common stock		(69.5)	(100.0)	(269.5)
Net income attributable to Intuitive Surgical, Inc.	313.9	396.8	695.4	1,021.6
Other comprehensive income (loss)	(6.0)	1.2	4.0	30.6
Capital contribution from noncontrolling interest			0.0	10.0
Net income attributable to noncontrolling interest in joint venture	$ 2.9	1.9	$ 7.8	(2.5)
Ending balance (in shares)	117,500		117,500
Ending balance	$ 9,286.7	$ 7,777.1	$ 9,286.7	$ 7,777.1
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)	117,000	115,200	116,000	114,500
Beginning balance	$ 0.1	$ 0.1	$ 0.1	$ 0.1
Issuance of common stock through employee stock plans (in shares)	500			2,000
Issuance of common stock through employee stock plans		0.6	$ 2.0
Shares withheld related to net share settlement of equity awards			(300)	300
Repurchase and retirement of common stock (in shares)				(600)
Repurchase and retirement of common stock		$ (0.2)	$ (0.2)
Ending balance (in shares)	117,500	115,600	117,500	115,600
Ending balance	$ 0.1	$ 0.1	$ 0.1	$ 0.1
Additional Paid-In Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	6,085.1	5,430.1	5,756.8	5,170.3
Issuance of common stock through employee stock plans	113.9	86.1	267.9	205.7
Shares withheld related to net share settlement of equity awards	(0.5)	(0.5)	(7.5)	(7.2)
Share-based compensation expense related to employee stock plans	105.8	88.9	292.3	246.6
Repurchase and retirement of common stock		(3.7)	(5.2)	(14.5)
Ending balance	6,304.3	5,600.9	6,304.3	5,600.9
Retained Earnings
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	2,633.0	1,819.0	2,494.5	1,521.7
Shares withheld related to net share settlement of equity awards	(9.7)	(7.4)	(157.8)	(145.7)
Repurchase and retirement of common stock		(65.8)	(94.8)	(255.0)
Net income attributable to Intuitive Surgical, Inc.	313.9	396.8	695.4	1,021.6
Ending balance	2,937.2	2,142.6	2,937.2	2,142.6
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	22.3	16.1	12.4	(13.3)
Other comprehensive income (loss)	(6.1)	1.7	3.8	31.1
Ending balance	16.2	17.8	16.2	17.8
Total Intuitive Surgical, Inc. Stockholders’ Equity
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	8,740.5	7,265.3	8,263.8	6,678.8
Issuance of common stock through employee stock plans	113.9	86.1	267.9	205.7
Shares withheld related to net share settlement of equity awards	(10.2)	(7.9)	(165.3)	(152.9)
Share-based compensation expense related to employee stock plans	105.8	88.9	292.3	246.6
Repurchase and retirement of common stock		(69.5)	(100.0)	(269.5)
Net income attributable to Intuitive Surgical, Inc.	313.9	396.8	695.4	1,021.6
Other comprehensive income (loss)	(6.1)	1.7	3.8	31.1
Ending balance	9,257.8	7,761.4	9,257.8	7,761.4
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	25.9	14.3	20.9	8.7
Other comprehensive income (loss)	0.1	(0.5)	0.2	(0.5)
Capital contribution from noncontrolling interest				10.0
Net income attributable to noncontrolling interest in joint venture	2.9	1.9	7.8	(2.5)
Ending balance	$ 28.9	$ 15.7	$ 28.9	$ 15.7

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