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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($)
shares in Thousands, $ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 117,700  
Beginning balance $ 9,759.1 $ 8,284.7
Issuance of common stock through employee stock plans 84.0 91.3
Shares withheld related to net share settlement of equity awards (178.0) (148.9)
Share-based compensation expense related to employee stock plans 103.2 90.6
Repurchase and retirement of common stock   (100.0)
Net income attributable to Intuitive Surgical, Inc. 426.3 313.5
Other comprehensive income (loss) (13.3) (3.3)
Net income attributable to noncontrolling interest in joint venture $ 8.9 2.7
Ending balance (in shares) 118,400  
Ending balance $ 10,190.2 8,530.5
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) 117,700 116,000
Beginning balance $ 0.1 $ 0.1
Issuance of common stock through employee stock plans (in shares) 900 1,100
Shares withheld related to net share settlement of equity awards (200) (300)
Repurchase and retirement of common stock (in shares)   (200)
Ending balance (in shares) 118,400 116,600
Ending balance $ 0.1 $ 0.1
Additional Paid-In Capital    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 6,445.2 5,756.8
Issuance of common stock through employee stock plans 84.0 91.3
Shares withheld related to net share settlement of equity awards (5.1) (6.7)
Share-based compensation expense related to employee stock plans 103.2 90.6
Repurchase and retirement of common stock   (5.2)
Ending balance 6,627.3 5,926.8
Retained Earnings    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 3,261.3 2,494.5
Shares withheld related to net share settlement of equity awards (172.9) (142.2)
Repurchase and retirement of common stock   (94.8)
Net income attributable to Intuitive Surgical, Inc. 426.3 313.5
Ending balance 3,514.7 2,570.9
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 24.9 12.4
Other comprehensive income (loss) (13.5) (3.5)
Ending balance 11.4 8.9
Total Intuitive Surgical, Inc. Stockholders’ Equity    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 9,731.5 8,263.8
Issuance of common stock through employee stock plans 84.0 91.3
Shares withheld related to net share settlement of equity awards (178.0) (148.9)
Share-based compensation expense related to employee stock plans 103.2 90.6
Repurchase and retirement of common stock   (100.0)
Net income attributable to Intuitive Surgical, Inc. 426.3 313.5
Other comprehensive income (loss) (13.5) (3.5)
Ending balance 10,153.5 8,506.7
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 27.6 20.9
Other comprehensive income (loss) 0.2 0.2
Net income attributable to noncontrolling interest in joint venture 8.9 2.7
Ending balance $ 36.7 $ 23.8