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Revenue (Tables) | 12 Months Ended
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Dec. 31, 2023
Revenue from Contract with Customer [Abstract] |
Revenue Disaggregated by Types and Geography | The following table presents revenue disaggregated by types and geography (in millions):
|  | Years Ended December 31,
U.S. |  | 2023 |  | 2022 |  | 2021
Instruments and accessories |  | $ | 3,059.8 |  |  | $ | 2,507.2 |  |  | $ | 2,225.1 |
Systems |  | 865.5 |  |  | 966.0 |  |  | 1,024.8 |
Services |  | 763.3 |  |  | 684.4 |  |  | 603.3 |
Total U.S. revenue |  | $ | 4,688.6 |  |  | $ | 4,157.6 |  |  | $ | 3,853.2 |
OUS |  |  |  |  |  |
Instruments and accessories |  | $ | 1,216.8 |  |  | $ | 1,010.7 |  |  | $ | 875.4 |
Systems |  | 814.2 |  |  | 714.1 |  |  | 668.6 |
Services |  | 404.5 |  |  | 339.8 |  |  | 312.9 |
Total OUS revenue |  | $ | 2,435.5 |  |  | $ | 2,064.6 |  |  | $ | 1,856.9 |
Total |  |  |  |  |  |
Instruments and accessories |  | $ | 4,276.6 |  |  | $ | 3,517.9 |  |  | $ | 3,100.5 |
Systems |  | 1,679.7 |  |  | 1,680.1 |  |  | 1,693.4 |
Services |  | 1,167.8 |  |  | 1,024.2 |  |  | 916.2 |
Total revenue |  | $ | 7,124.1 |  |  | $ | 6,222.2 |  |  | $ | 5,710.1 |
Summary of Contract Assets and Liabilities | The following information summarizes the Company’s contract assets and liabilities (in millions):
| December 31,
| 2023 |  | 2022
Contract assets | $ | 20.2 |  |  | $ | 45.0 |
Deferred revenue | $ | 491.7 |  |  | $ | 438.3 |
Sales-type Lease Receivable | The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
|  | Years Ended December 31,
|  | 2023 |  | 2022 |  | 2021
Sales-type lease revenue |  | $ | 78.4 |  |  | $ | 156.4 |  |  | $ | 220.3 |
Operating lease revenue* |  | $ | 500.5 |  |  | $ | 376.5 |  |  | $ | 276.9 |
*Variable lease revenue relating to usage-based arrangements included within operating lease revenue |  | $ | 216.5 |  |  | $ | 133.0 |  |  | $ | 78.1 |
Operating Lease Revenue | The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
|  | Years Ended December 31,
|  | 2023 |  | 2022 |  | 2021
Sales-type lease revenue |  | $ | 78.4 |  |  | $ | 156.4 |  |  | $ | 220.3 |
Operating lease revenue* |  | $ | 500.5 |  |  | $ | 376.5 |  |  | $ | 276.9 |
*Variable lease revenue relating to usage-based arrangements included within operating lease revenue |  | $ | 216.5 |  |  | $ | 133.0 |  |  | $ | 78.1 |

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