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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance (in shares)			117,700
Beginning balance	$ 10,190.2	$ 8,530.5	$ 9,759.1	$ 8,284.7
Issuance of common stock through employee stock plans	69.7	62.7	153.7	154.0
Shares withheld related to net share settlement of equity awards	(9.9)	(6.2)	(187.9)	(155.1)
Share-based compensation expense related to employee stock plans	108.1	95.9	211.3	186.5
Repurchase and retirement of common stock				(100.0)
Net income attributable to Intuitive Surgical, Inc.	517.2	68.0	943.5	381.5
Other comprehensive income (loss)	(1.6)	13.3	(14.9)	10.0
Net income attributable to noncontrolling interest in joint venture	$ 5.8	2.2	$ 14.7	4.9
Ending balance (in shares)	118,700		118,700
Ending balance	$ 10,879.5	$ 8,766.4	$ 10,879.5	8,766.4
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)	118,400	116,600	117,700	116,000
Beginning balance	$ 0.1	$ 0.1	$ 0.1	$ 0.1
Issuance of common stock through employee stock plans (in shares)	300	400	1,200	1,500
Shares withheld related to net share settlement of equity awards	0	0	(200)	(300)
Repurchase and retirement of common stock (in shares)				(200)
Repurchase and retirement of common stock				$ 0.0
Ending balance (in shares)	118,700	117,000	118,700	117,000
Ending balance	$ 0.1	$ 0.1	$ 0.1	$ 0.1
Additional Paid-In Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	6,627.3	5,926.8	6,445.2	5,756.8
Issuance of common stock through employee stock plans	69.7	62.7	153.7	154.0
Shares withheld related to net share settlement of equity awards	(0.7)	(0.3)	(5.8)	(7.0)
Share-based compensation expense related to employee stock plans	108.1	95.9	211.3	186.5
Repurchase and retirement of common stock				(5.2)
Ending balance	6,804.4	6,085.1	6,804.4	6,085.1
Retained Earnings
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	3,514.7	2,570.9	3,261.3	2,494.5
Shares withheld related to net share settlement of equity awards	(9.2)	(5.9)	(182.1)	(148.1)
Repurchase and retirement of common stock				(94.8)
Net income attributable to Intuitive Surgical, Inc.	517.2	68.0	943.5	381.5
Ending balance	4,022.7	2,633.0	4,022.7	2,633.0
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	11.4	8.9	24.9	12.4
Other comprehensive income (loss)	(1.1)	13.4	(14.6)	9.9
Ending balance	10.3	22.3	10.3	22.3
Total Intuitive Surgical, Inc. Stockholders’ Equity
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	10,153.5	8,506.7	9,731.5	8,263.8
Issuance of common stock through employee stock plans	69.7	62.7	153.7	154.0
Shares withheld related to net share settlement of equity awards	(9.9)	(6.2)	(187.9)	(155.1)
Share-based compensation expense related to employee stock plans	108.1	95.9	211.3	186.5
Repurchase and retirement of common stock				(100.0)
Net income attributable to Intuitive Surgical, Inc.	517.2	68.0	943.5	381.5
Other comprehensive income (loss)	(1.1)	13.4	(14.6)	9.9
Ending balance	10,837.5	8,740.5	10,837.5	8,740.5
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	36.7	23.8	27.6	20.9
Other comprehensive income (loss)	(0.5)	(0.1)	(0.3)	0.1
Net income attributable to noncontrolling interest in joint venture	5.8	2.2	14.7	4.9
Ending balance	$ 42.0	$ 25.9	$ 42.0	$ 25.9

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