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Revenue (Tables) | 12 Months Ended
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Dec. 31, 2020
Revenue from Contract with Customer [Abstract] |
Revenue Disaggregated by Types and Geography | The following table presents revenue disaggregated by types and geography (in millions):
|  |  | Years Ended December 31,
U.S. |  |  |  |  | 2020 |  | 2019 |  | 2018
Instruments and accessories |  |  |  |  | $ | 1,785.1 |  |  | $ | 1,790.4 |  |  | $ | 1,485.2 |
Systems |  |  |  |  | 695.0 |  |  | 830.7 |  |  | 692.2 |
Services |  |  |  |  | 482.6 |  |  | 508.4 |  |  | 456.1 |
Total U.S. revenue |  |  |  |  | $ | 2,962.7 |  |  | $ | 3,129.5 |  |  | $ | 2,633.5 |
Outside of U.S. (“OUS”) |  |  |  |  |  |  |  |  |
Instruments and accessories |  |  |  |  | $ | 670.6 |  |  | $ | 617.8 |  |  | $ | 476.8 |
Systems |  |  |  |  | 483.9 |  |  | 515.4 |  |  | 434.9 |
Services |  |  |  |  | 241.2 |  |  | 215.8 |  |  | 179.0 |
Total OUS revenue |  |  |  |  | $ | 1,395.7 |  |  | $ | 1,349.0 |  |  | $ | 1,090.7 |
Total |  |  |  |  |  |  |  |  |
Instruments and accessories |  |  |  |  | $ | 2,455.7 |  |  | $ | 2,408.2 |  |  | $ | 1,962.0 |
Systems |  |  |  |  | 1,178.9 |  |  | 1,346.1 |  |  | 1,127.1 |
Services |  |  |  |  | 723.8 |  |  | 724.2 |  |  | 635.1 |
Total revenue |  |  |  |  | $ | 4,358.4 |  |  | $ | 4,478.5 |  |  | $ | 3,724.2 |
Summary of Contract Assets and Liabilities | The following information summarizes the Company’s contract assets and liabilities (in millions):
| December 31,
| 2020 |  | 2019
Contract assets | $ | 34.6 |  |  | $ | 20.8 |
Deferred revenue | $ | 382.3 |  |  | $ | 365.2 |
Sales-type Lease Receivable | The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
|  | Years Ended December 31,
|  | 2020 |  | 2019 |  | 2018
Sales-type lease revenue |  | $ | 154.4 |  |  | $ | 81.6 |  |  | $ | 69.8 |
Operating lease revenue |  | $ | 176.7 |  |  | $ | 106.9 |  |  | $ | 51.4 |
Operating Lease Revenue | The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
|  | Years Ended December 31,
|  | 2020 |  | 2019 |  | 2018
Sales-type lease revenue |  | $ | 154.4 |  |  | $ | 81.6 |  |  | $ | 69.8 |
Operating lease revenue |  | $ | 176.7 |  |  | $ | 106.9 |  |  | $ | 51.4 |

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