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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, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenue:        
Total revenue $ 1,743.7 $ 1,557.4 $ 5,195.8 $ 4,567.2
Cost of revenue:        
Total cost of revenue 576.5 505.3 1,743.7 1,482.1
Gross profit 1,167.2 1,052.1 3,452.1 3,085.1
Operating expenses:        
Selling, general and administrative 452.0 436.1 1,396.8 1,245.6
Research and development 249.4 217.1 738.7 634.9
Total operating expenses 701.4 653.2 2,135.5 1,880.5
Income from operations 465.8 398.9 1,316.6 1,204.6
Interest and other income, net 56.2 3.9 126.4 7.5
Income before taxes 522.0 402.8 1,443.0 1,212.1
Income tax expense 102.2 78.1 236.4 204.4
Net income 419.8 324.7 1,206.6 1,007.7
Less: net income attributable to noncontrolling interest in joint venture 4.1 0.7 14.8 10.3
Net income attributable to Intuitive Surgical, Inc. $ 415.7 $ 324.0 $ 1,191.8 $ 997.4
Net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in dollars per share) $ 1.18 $ 0.91 $ 3.40 $ 2.79
Diluted (in dollars per share) $ 1.16 $ 0.90 $ 3.34 $ 2.74
Shares used in computing net income per share attributable to Intuitive Surgical, Inc.:        
Basic (in shares) 351.7 355.3 351.0 357.2
Diluted (in shares) 358.2 360.5 357.1 363.7
Other comprehensive income (loss), net of tax:        
Unrealized gains on hedge instruments $ 4.3 $ 2.3 $ 12.8 $ 7.7
Unrealized gains (losses) on available-for-sale securities 25.6 (37.3) 76.3 (161.4)
Foreign currency translation gains (losses) (6.8) (10.0) 15.9 (12.0)
Prior service cost for employee benefit plans 0.0 0.1 0.0 0.2
Other comprehensive income (loss) 23.1 (44.9) 105.0 (165.5)
Total comprehensive income 442.9 279.8 1,311.6 842.2
Less: comprehensive income (loss) attributable to noncontrolling interest 3.9 (0.8) 13.8 8.2
Total comprehensive income attributable to Intuitive Surgical, Inc. 439.0 280.6 1,297.8 834.0
Corporate Joint Venture        
Operating expenses:        
Less: net income attributable to noncontrolling interest in joint venture 4.1 0.7 14.8 10.3
Product        
Revenue:        
Total revenue 1,450.8 1,297.5 4,332.4 3,806.3
Cost of revenue:        
Total cost of revenue 489.5 421.6 1,480.5 1,239.9
Service        
Revenue:        
Total revenue 292.9 259.9 863.4 760.9
Cost of revenue:        
Total cost of revenue $ 87.0 $ 83.7 $ 263.2 $ 242.2