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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 350.0  
Beginning balance $ 11,112.6 $ 11,951.5
Issuance of common stock through employee stock plans 100.2 80.0
Shares withheld related to net share settlement of equity awards (129.7) (172.2)
Share-based compensation expense related to employee stock plans 146.0 120.8
Repurchase and retirement of common stock (350.0) (106.5)
Net income attributable to Intuitive Surgical, Inc. 355.3 365.6
Other comprehensive income (loss) 54.3 (86.1)
Net income attributable to noncontrolling interest in joint venture $ 5.5 3.8
Ending balance (in shares) 350.4  
Ending balance $ 11,294.2 12,156.9
Total Intuitive Surgical, Inc. Stockholders’ Equity    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 11,041.9 11,901.1
Issuance of common stock through employee stock plans 100.2 80.0
Shares withheld related to net share settlement of equity awards (129.7) (172.2)
Share-based compensation expense related to employee stock plans 146.0 120.8
Repurchase and retirement of common stock (350.0) (106.5)
Net income attributable to Intuitive Surgical, Inc. 355.3 365.6
Other comprehensive income (loss) 54.0 (86.5)
Ending balance $ 11,217.7 $ 12,102.3
Common Stock    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 350.0 357.7
Beginning balance $ 0.4 $ 0.4
Issuance of common stock through employee stock plans (in shares) 2.4 2.2
Shares withheld related to net share settlement of equity awards (in shares) (0.5) (0.6)
Repurchase and retirement of common stock (in shares) (1.5) (0.4)
Ending balance (in shares) 350.4 358.9
Ending balance $ 0.4 $ 0.4
Additional Paid-In Capital    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 7,703.9 7,164.0
Issuance of common stock through employee stock plans 100.2 80.0
Shares withheld related to net share settlement of equity awards (5.9) (6.1)
Share-based compensation expense related to employee stock plans 146.0 120.8
Repurchase and retirement of common stock (15.8) (4.1)
Ending balance 7,928.4 7,354.6
Retained Earnings    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 3,500.1 4,760.9
Shares withheld related to net share settlement of equity awards (123.8) (166.1)
Repurchase and retirement of common stock (334.2) (102.4)
Net income attributable to Intuitive Surgical, Inc. 355.3 365.6
Ending balance 3,397.4 4,858.0
Accumulated Other Comprehensive Income (Loss)    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (162.5) (24.2)
Other comprehensive income (loss) 54.0 (86.5)
Ending balance (108.5) (110.7)
Noncontrolling Interest in Joint Venture    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 70.7 50.4
Other comprehensive income (loss) 0.3 0.4
Net income attributable to noncontrolling interest in joint venture 5.5 3.8
Ending balance $ 76.5 $ 54.6