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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Revenue:    
Total revenue $ 1,487.7 $ 1,292.1
Cost of revenue:    
Total cost of revenue 478.0 389.5
Gross profit 1,009.7 902.6
Operating expenses:    
Selling, general and administrative 391.1 326.0
Research and development 210.5 159.8
Total operating expenses 601.6 485.8
Income from operations 408.1 416.8
Interest and other income (expense), net (5.7) 32.0
Income before taxes 402.4 448.8
Income tax expense 33.0 13.6
Net income 369.4 435.2
Less: net income attributable to noncontrolling interest in joint venture 3.8 8.9
Net income attributable to Intuitive Surgical, Inc. $ 365.6 $ 426.3
Net income per share attributable to Intuitive Surgical, Inc.:    
Basic (in dollars per share) $ 1.02 $ 1.20
Diluted (in dollars per share) $ 1.00 $ 1.17
Shares used in computing net income per share attributable to Intuitive Surgical, Inc.:    
Basic (in shares) 358.4 354.2
Diluted (in shares) 366.7 364.0
Other comprehensive loss, net of tax:    
Change in unrealized gains on hedge instruments $ 1.0 $ 6.1
Change in unrealized losses on available-for-sale securities (90.7) (10.0)
Change in foreign currency translation gains (losses) 3.5 (9.5)
Change in prior service cost for employee benefit plans 0.1 0.1
Other comprehensive loss (86.1) (13.3)
Total comprehensive income 283.3 421.9
Less: comprehensive income attributable to noncontrolling interest 4.2 9.1
Total comprehensive income attributable to Intuitive Surgical, Inc. 279.1 412.8
Corporate Joint Venture    
Operating expenses:    
Less: net income attributable to noncontrolling interest in joint venture 3.8 8.9
Product    
Revenue:    
Total revenue 1,238.4 1,074.6
Cost of revenue:    
Total cost of revenue 397.3 319.3
Service    
Revenue:    
Total revenue 249.3 217.5
Cost of revenue:    
Total cost of revenue $ 80.7 $ 70.2