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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($)
shares in Thousands, $ in Millions
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 357,700  
Beginning balance $ 11,951.5 $ 9,759.1
Issuance of common stock through employee stock plans 80.0 84.0
Shares withheld related to net share settlement of equity awards (172.2) (178.0)
Share-based compensation expense related to employee stock plans 120.8 103.2
Repurchase and retirement of common stock (106.5)  
Net income attributable to Intuitive Surgical, Inc. 365.6 426.3
Other comprehensive income (loss) (86.1) (13.3)
Net income attributable to noncontrolling interest in joint venture $ 3.8 8.9
Ending balance (in shares) 358,900  
Ending balance $ 12,156.9 $ 10,190.2
Common Stock    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 357,700 353,100
Beginning balance $ 0.4 $ 0.4
Issuance of common stock through employee stock plans (in shares) 2,200 2,800
Shares withheld related to net share settlement of equity awards (600) (700)
Repurchase and retirement of common stock (in shares) (400)  
Repurchase and retirement of common stock $ 0.0  
Ending balance (in shares) 358,900 355,200
Ending balance $ 0.4 $ 0.4
Additional Paid-In Capital    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 7,164.0 6,444.9
Issuance of common stock through employee stock plans 80.0 84.0
Shares withheld related to net share settlement of equity awards (6.1) (5.1)
Share-based compensation expense related to employee stock plans 120.8 103.2
Repurchase and retirement of common stock (4.1)  
Ending balance 7,354.6 6,627.0
Retained Earnings    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 4,760.9 3,261.3
Shares withheld related to net share settlement of equity awards (166.1) (172.9)
Repurchase and retirement of common stock (102.4)  
Net income attributable to Intuitive Surgical, Inc. 365.6 426.3
Ending balance 4,858.0 3,514.7
Accumulated Other Comprehensive Income    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (24.2) 24.9
Other comprehensive income (loss) (86.5) (13.5)
Ending balance (110.7) 11.4
Total Intuitive Surgical, Inc. Stockholders’ Equity    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 11,901.1 9,731.5
Issuance of common stock through employee stock plans 80.0 84.0
Shares withheld related to net share settlement of equity awards (172.2) (178.0)
Share-based compensation expense related to employee stock plans 120.8 103.2
Repurchase and retirement of common stock (106.5)  
Net income attributable to Intuitive Surgical, Inc. 365.6 426.3
Other comprehensive income (loss) (86.5) (13.5)
Ending balance 12,102.3 10,153.5
Noncontrolling Interest in Joint Venture    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 50.4 27.6
Other comprehensive income (loss) 0.4 0.2
Net income attributable to noncontrolling interest in joint venture 3.8 8.9
Ending balance $ 54.6 $ 36.7