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Condensed Consolidated Statements of Comprehensive Income (Unaudited) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenue:        
Total revenue $ 1,755.9 $ 1,522.1 $ 3,452.1 $ 3,009.8
Cost of revenue:        
Total cost of revenue 584.0 498.8 1,167.2 976.8
Gross profit 1,171.9 1,023.3 2,284.9 2,033.0
Operating expenses:        
Selling, general and administrative 464.3 418.4 944.8 809.5
Research and development 244.4 207.3 489.3 417.8
Total operating expenses 708.7 625.7 1,434.1 1,227.3
Income from operations 463.2 397.6 850.8 805.7
Interest and other income, net 36.0 9.3 70.2 3.6
Income before taxes 499.2 406.9 921.0 809.3
Income tax expense 73.2 93.3 134.2 126.3
Net income 426.0 313.6 786.8 683.0
Less: net income attributable to noncontrolling interest in joint venture 5.2 5.8 10.7 9.6
Net income attributable to Intuitive Surgical, Inc. $ 420.8 $ 307.8 $ 776.1 $ 673.4
Net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in dollars per share) $ 1.20 $ 0.86 $ 2.21 $ 1.88
Diluted (in dollars per share) $ 1.18 $ 0.85 $ 2.18 $ 1.84
Shares used in computing net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in shares) 350.9 358.1 350.6 358.2
Diluted (in shares) 357.3 363.9 356.6 365.3
Other comprehensive income (loss), net of tax:        
Unrealized gains on hedge instruments $ 6.0 $ 4.4 $ 8.5 $ 5.4
Unrealized gains (losses) on available-for-sale securities 13.1 (33.4) 50.7 (124.1)
Foreign currency translation gains (losses) 8.5 (5.5) 22.7 (2.0)
Prior service cost for employee benefit plans 0.0 0.0 0.0 0.1
Other comprehensive income (loss) 27.6 (34.5) 81.9 (120.6)
Total comprehensive income 453.6 279.1 868.7 562.4
Less: comprehensive income attributable to noncontrolling interest 4.1 4.8 9.9 9.0
Total comprehensive income attributable to Intuitive Surgical, Inc. 449.5 274.3 858.8 553.4
Corporate Joint Venture        
Operating expenses:        
Less: net income attributable to noncontrolling interest in joint venture 5.2 5.8 10.7 9.6
Product        
Revenue:        
Total revenue 1,468.6 1,270.4 2,881.6 2,508.8
Cost of revenue:        
Total cost of revenue 498.0 421.0 991.0 818.3
Service        
Revenue:        
Total revenue 287.3 251.7 570.5 501.0
Cost of revenue:        
Total cost of revenue $ 86.0 $ 77.8 $ 176.2 $ 158.5