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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($)
shares in Millions, $ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance (in shares)     350.0  
Beginning balance $ 11,294.2 $ 12,156.9 $ 11,112.6 $ 11,951.5
Issuance of common stock through employee stock plans 74.6 26.6 174.8 106.6
Shares withheld related to net share settlement of equity awards (10.9) (6.8) (140.6) (179.0)
Share-based compensation expense related to employee stock plans 148.2 126.7 294.2 247.5
Repurchase and retirement of common stock   (500.1) (350.0) (606.6)
Net income attributable to Intuitive Surgical, Inc. 420.8 307.8 776.1 673.4
Other comprehensive income (loss) 27.6 (34.5) 81.9 (120.6)
Net income attributable to noncontrolling interest in joint venture $ 5.2 5.8 $ 10.7 9.6
Ending balance (in shares) 351.3   351.3  
Ending balance $ 11,959.7 12,082.4 $ 11,959.7 12,082.4
Total Intuitive Surgical, Inc. Stockholders’ Equity        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance 11,217.7 12,102.3 11,041.9 11,901.1
Issuance of common stock through employee stock plans 74.6 26.6 174.8 106.6
Shares withheld related to net share settlement of equity awards (10.9) (6.8) (140.6) (179.0)
Share-based compensation expense related to employee stock plans 148.2 126.7 294.2 247.5
Repurchase and retirement of common stock   (500.1) (350.0) (606.6)
Net income attributable to Intuitive Surgical, Inc. 420.8 307.8 776.1 673.4
Other comprehensive income (loss) 28.7 (33.5) 82.7 (120.0)
Ending balance $ 11,879.1 $ 12,023.0 $ 11,879.1 $ 12,023.0
Common Stock        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance (in shares) 350.4 358.9 350.0 357.7
Beginning balance $ 0.4 $ 0.4 $ 0.4 $ 0.4
Issuance of common stock through employee stock plans (in shares) 1.0 0.4 3.4 2.6
Shares withheld related to net share settlement of equity awards (in shares) (0.1) 0.0 (0.6) (0.6)
Repurchase and retirement of common stock (in shares)   (2.2) (1.5) (2.6)
Ending balance (in shares) 351.3 357.1 351.3 357.1
Ending balance $ 0.4 $ 0.4 $ 0.4 $ 0.4
Additional Paid-In Capital        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance 7,928.4 7,354.6 7,703.9 7,164.0
Issuance of common stock through employee stock plans 74.6 26.6 174.8 106.6
Shares withheld related to net share settlement of equity awards (0.4) (0.6) (6.3) (6.7)
Share-based compensation expense related to employee stock plans 148.2 126.7 294.2 247.5
Repurchase and retirement of common stock   (23.3) (15.8) (27.4)
Ending balance 8,150.8 7,484.0 8,150.8 7,484.0
Retained Earnings        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance 3,397.4 4,858.0 3,500.1 4,760.9
Shares withheld related to net share settlement of equity awards (10.5) (6.2) (134.3) (172.3)
Repurchase and retirement of common stock   (476.8) (334.2) (579.2)
Net income attributable to Intuitive Surgical, Inc. 420.8 307.8 776.1 673.4
Ending balance 3,807.7 4,682.8 3,807.7 4,682.8
Accumulated Other Comprehensive Income (Loss)        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance (108.5) (110.7) (162.5) (24.2)
Other comprehensive income (loss) 28.7 (33.5) 82.7 (120.0)
Ending balance (79.8) (144.2) (79.8) (144.2)
Noncontrolling Interest in Joint Venture        
Increase (Decrease) in Stockholders' Equity [Roll Forward]        
Beginning balance 76.5 54.6 70.7 50.4
Other comprehensive income (loss) (1.1) (1.0) (0.8) (0.6)
Net income attributable to noncontrolling interest in joint venture 5.2 5.8 10.7 9.6
Ending balance $ 80.6 $ 59.4 $ 80.6 $ 59.4