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STOCKHOLDERS' EQUITY
 9 Months Ended
Sep. 30, 2021
Equity [Abstract]  
STOCKHOLDERS' EQUITY STOCKHOLDERS’ EQUITY
Stockholders’ Equity
The following tables present the changes in stockholders’ equity (in millions):
Three Months Ended September 30, 2021
Common StockAdditional Paid-In CapitalRetained EarningsAccumulated Other Comprehensive IncomeTotal Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance356.2 $0.4 $6,804.1 $4,022.7 $10.3 $10,837.5 $42.0 $10,879.5 
Issuance of common stock through employee stock plans1.1 — 91.1 91.1 91.1 
Shares withheld related to net share settlement of equity awards(0.1)— (0.2)(13.1)(13.3)(13.3)
Share-based compensation expense related to employee stock plans120.1 120.1 120.1 
Net income attributable to Intuitive Surgical, Inc.380.5 380.5 380.5 
Other comprehensive income (loss)(5.0)(5.0)(0.1)(5.1)
Net income attributable to noncontrolling interest in joint venture— 6.7 6.7 
Ending balance357.2 $0.4 $7,015.1 $4,390.1 $5.3 $11,410.9 $48.6 $11,459.5 
Three Months Ended September 30, 2020
Common StockAdditional
Paid-In
Capital		Retained
Earnings		Accumulated
Other
Comprehensive
Income		Total Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance
351.0 $0.4 $6,084.8 $2,633.0 $22.3 $8,740.5 $25.9 $8,766.4 
Issuance of common stock through employee stock plans1.6 — 113.9 113.9 113.9 
Shares withheld related to net share settlement of equity awards— — (0.5)(9.7)(10.2)(10.2)
Share-based compensation expense related to employee stock plans105.8 105.8 105.8 
Net income attributable to Intuitive Surgical, Inc.313.9 313.9 313.9 
Other comprehensive income (loss)
(6.1)(6.1)0.1 (6.0)
Net income attributable to noncontrolling interest in joint venture— 2.9 2.9 
Ending balance
352.6 $0.4 $6,304.0 $2,937.2 $16.2 $9,257.8 $28.9 $9,286.7 
Nine Months Ended September 30, 2021
Common StockAdditional Paid-In CapitalRetained EarningsAccumulated Other Comprehensive IncomeTotal Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance353.1 $0.4 $6,444.9 $3,261.3 $24.9 $9,731.5 $27.6 $9,759.1 
Issuance of common stock through employee stock plans4.9 — 244.8 244.8 244.8 
Shares withheld related to net share settlement of equity awards(0.8)— (6.0)(195.2)(201.2)(201.2)
Share-based compensation expense related to employee stock plans331.4 331.4 331.4 
Net income attributable to Intuitive Surgical, Inc.1,324.0 1,324.0 1,324.0 
Other comprehensive income (loss)(19.6)(19.6)(0.4)(20.0)
Net income attributable to noncontrolling interest in joint venture— 21.4 21.4 
Ending balance357.2 $0.4 $7,015.1 $4,390.1 $5.3 $11,410.9 $48.6 $11,459.5 
Nine Months Ended September 30, 2020
Common StockAdditional
Paid-In
Capital		Retained
Earnings		Accumulated
Other
Comprehensive
Income		Total Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance
347.9 $0.4 $5,756.5 $2,494.5 $12.4 $8,263.8 $20.9 $8,284.7 
Adoption of new accounting standard(0.1)(0.1)(0.1)
Issuance of common stock through employee stock plans6.1 — 267.9 267.9 267.9 
Shares withheld related to net share settlement of equity awards(0.8)— (7.5)(157.8)(165.3)(165.3)
Share-based compensation expense related to employee stock plans292.3 292.3 292.3 
Repurchase and retirement of common stock(0.6)— (5.2)(94.8)(100.0)(100.0)
Net income attributable to Intuitive Surgical, Inc.695.4 695.4 695.4 
Other comprehensive income (loss)
3.8 3.8 0.2 4.0 
Net income attributable to noncontrolling interest in joint venture— 7.8 7.8 
Ending balance
352.6 $0.4 $6,304.0 $2,937.2 $16.2 $9,257.8 $28.9 $9,286.7 
Stock Repurchase Program
The Company’s Board of Directors (the “Board”) has authorized an aggregate of $7.5 billion of funding for the Company’s common stock repurchase program (the “Repurchase Program”) since its establishment in March 2009. The most recent authorization occurred in January 2019 when the Board increased the authorized amount available under the Repurchase Program to $2.0 billion. As of September 30, 2021, the remaining amount of share repurchases authorized by the Board was $1.6 billion.
The following table provides share repurchase activities (in millions, except per share amounts):
 Three Months Ended September 30,Nine Months Ended September 30,
 2021202020212020
Shares repurchased— — — 0.6 
Average price per share— — $— $173.94 
Value of shares repurchased— — $— $100.0 
Accumulated Other Comprehensive Income (Loss), Net of Tax, Attributable to Intuitive
The components of accumulated other comprehensive income (loss), net of tax, attributable to Intuitive are as follows (in millions):
 Three Months Ended September 30, 2021
 Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$3.1 $13.5 $(0.1)$(6.2)$10.3 
Other comprehensive income (loss) before reclassifications4.2 (3.4)(2.7)— (1.9)
Amounts reclassified from accumulated other comprehensive income (loss)(2.2)(1.1)— 0.2 (3.1)
Net current-period other comprehensive income (loss)2.0 (4.5)(2.7)0.2 (5.0)
Ending balance$5.1 $9.0 $(2.8)$(6.0)$5.3 
 Three Months Ended September 30, 2020
Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$0.4 $44.1 $(13.8)$(8.4)$22.3 
Other comprehensive income (loss) before reclassifications(0.8)(7.1)2.2 — (5.7)
Amounts reclassified from accumulated other comprehensive income (loss)(0.6)— — 0.2 (0.4)
Net current-period other comprehensive income (loss)(1.4)(7.1)2.2 0.2 (6.1)
Ending balance$(1.0)$37.0 $(11.6)$(8.2)$16.2 
 Nine Months Ended September 30, 2021
 Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$(2.9)$29.5 $4.7 $(6.4)$24.9 
Other comprehensive income (loss) before reclassifications9.3 (19.4)(7.5)— (17.6)
Amounts reclassified from accumulated other comprehensive income (loss)(1.3)(1.1)— 0.4 (2.0)
Net current-period other comprehensive income (loss)8.0 (20.5)(7.5)0.4 (19.6)
Ending balance$5.1 $9.0 $(2.8)$(6.0)$5.3 
 Nine Months Ended September 30, 2020
 Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$0.7 $20.4 $— $(8.7)$12.4 
Other comprehensive income (loss) before reclassifications2.0 21.3 (11.6)— 11.7 
Amounts reclassified from accumulated other comprehensive income (loss)(3.7)(4.7)— 0.5 (7.9)
Net current-period other comprehensive income (loss)(1.7)16.6 (11.6)0.5 3.8 
Ending balance$(1.0)$37.0 $(11.6)$(8.2)$16.2