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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Revenue:        
Total revenue $ 1,557.4 $ 1,403.3 $ 4,567.2 $ 4,159.4
Cost of revenue:        
Total cost of revenue 505.3 431.9 1,482.1 1,261.7
Gross profit 1,052.1 971.4 3,085.1 2,897.7
Operating expenses:        
Selling, general and administrative 436.1 363.3 1,245.6 1,039.5
Research and development 217.1 165.5 634.9 487.6
Total operating expenses 653.2 528.8 1,880.5 1,527.1
Income from operations 398.9 442.6 1,204.6 1,370.6
Interest and other income, net 3.9 18.5 7.5 65.5
Income before taxes 402.8 461.1 1,212.1 1,436.1
Income tax expense 78.1 73.9 204.4 90.7
Net income 324.7 387.2 1,007.7 1,345.4
Less: net income attributable to noncontrolling interest in joint venture 0.7 6.7 10.3 21.4
Net income attributable to Intuitive Surgical, Inc. $ 324.0 $ 380.5 $ 997.4 $ 1,324.0
Net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in dollars per share) $ 0.91 $ 1.07 $ 2.79 $ 3.72
Diluted (in dollars per share) $ 0.90 $ 1.04 $ 2.74 $ 3.63
Shares used in computing net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in shares) 355.3 356.8 357.2 355.6
Diluted (in shares) 360.5 366.8 363.7 365.1
Other comprehensive loss, net of tax:        
Change in unrealized gains on hedge instruments $ 2.3 $ 2.0 $ 7.7 $ 8.0
Change in unrealized losses on available-for-sale securities (37.3) (4.5) (161.4) (20.5)
Change in foreign currency translation losses (10.0) (2.8) (12.0) (7.9)
Change in prior service cost for employee benefit plans 0.1 0.2 0.2 0.4
Other comprehensive loss (44.9) (5.1) (165.5) (20.0)
Total comprehensive income 279.8 382.1 842.2 1,325.4
Less: comprehensive income (loss) attributable to noncontrolling interest (0.8) 6.6 8.2 21.0
Total comprehensive income attributable to Intuitive Surgical, Inc. 280.6 375.5 834.0 1,304.4
Corporate Joint Venture        
Operating expenses:        
Less: net income attributable to noncontrolling interest in joint venture 0.7 6.7 10.3 21.4
Product        
Revenue:        
Total revenue 1,297.5 1,170.6 3,806.3 3,481.2
Cost of revenue:        
Total cost of revenue 421.6 355.8 1,239.9 1,049.1
Service        
Revenue:        
Total revenue 259.9 232.7 760.9 678.2
Cost of revenue:        
Total cost of revenue $ 83.7 $ 76.1 $ 242.2 $ 212.6