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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance (in shares)			353,100
Beginning balance	$ 10,879.5	$ 8,766.4	$ 9,759.1	$ 8,284.7
Issuance of common stock through employee stock plans	91.1	113.9	244.8	267.9
Shares withheld related to net share settlement of equity awards	(13.3)	(10.2)	(201.2)	(165.3)
Share-based compensation expense related to employee stock plans	120.1	105.8	331.4	292.3
Repurchase and retirement of common stock				(100.0)
Net income attributable to Intuitive Surgical, Inc.	380.5	313.9	1,324.0	695.4
Other comprehensive income (loss)	(5.1)	(6.0)	(20.0)	4.0
Net income attributable to noncontrolling interest in joint venture	$ 6.7	2.9	$ 21.4	7.8
Ending balance (in shares)	357,200		357,200
Ending balance	$ 11,459.5	$ 9,286.7	$ 11,459.5	9,286.7
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)	356,200	351,000	353,100	347,900
Beginning balance	$ 0.4	$ 0.4	$ 0.4	$ 0.4
Issuance of common stock through employee stock plans (in shares)	1,100	1,600	4,900	6,100
Shares withheld related to net share settlement of equity awards (in shares)	(100)	0	(800)	(800)
Repurchase and retirement of common stock (in shares)				(600)
Repurchase and retirement of common stock				$ 0.0
Ending balance (in shares)	357,200	352,600	357,200	352,600
Ending balance	$ 0.4	$ 0.4	$ 0.4	$ 0.4
Additional Paid-In Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	6,804.1	6,084.8	6,444.9	5,756.5
Issuance of common stock through employee stock plans	91.1	113.9	244.8	267.9
Shares withheld related to net share settlement of equity awards	(0.2)	(0.5)	(6.0)	(7.5)
Share-based compensation expense related to employee stock plans	120.1	105.8	331.4	292.3
Repurchase and retirement of common stock				(5.2)
Ending balance	7,015.1	6,304.0	7,015.1	6,304.0
Retained Earnings
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	4,022.7	2,633.0	3,261.3	2,494.5
Shares withheld related to net share settlement of equity awards	(13.1)	(9.7)	(195.2)	(157.8)
Repurchase and retirement of common stock				(94.8)
Net income attributable to Intuitive Surgical, Inc.	380.5	313.9	1,324.0	695.4
Ending balance	4,390.1	2,937.2	4,390.1	2,937.2
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	10.3	22.3	24.9	12.4
Other comprehensive income (loss)	(5.0)	(6.1)	(19.6)	3.8
Ending balance	5.3	16.2	5.3	16.2
Total Intuitive Surgical, Inc. Stockholders’ Equity
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	10,837.5	8,740.5	9,731.5	8,263.8
Issuance of common stock through employee stock plans	91.1	113.9	244.8	267.9
Shares withheld related to net share settlement of equity awards	(13.3)	(10.2)	(201.2)	(165.3)
Share-based compensation expense related to employee stock plans	120.1	105.8	331.4	292.3
Repurchase and retirement of common stock				(100.0)
Net income attributable to Intuitive Surgical, Inc.	380.5	313.9	1,324.0	695.4
Other comprehensive income (loss)	(5.0)	(6.1)	(19.6)	3.8
Ending balance	11,410.9	9,257.8	11,410.9	9,257.8
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	42.0	25.9	27.6	20.9
Other comprehensive income (loss)	(0.1)	0.1	(0.4)	0.2
Net income attributable to noncontrolling interest in joint venture	6.7	2.9	21.4	7.8
Ending balance	$ 48.6	$ 28.9	$ 48.6	$ 28.9

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