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STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 352,300,000  
Beginning balance $ 13,397.3 $ 11,112.6
Issuance of common stock through employee stock plans 180.4 100.2
Shares withheld related to net share settlement of equity awards (226.6) (129.7)
Share-based compensation expense related to employee stock plans 152.8 146.0
Repurchase and retirement of common stock   (350.0)
Net income attributable to Intuitive Surgical, Inc. 544.9 355.3
Other comprehensive income (loss) 3.1 54.3
Cash dividends declared and payable by joint venture (8.0)  
Net income attributable to noncontrolling interest in joint venture $ 2.5 5.5
Ending balance (in shares) 354,700,000  
Ending balance $ 14,046.4 11,294.2
Total Intuitive Surgical, Inc. Stockholders’ Equity    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 13,307.6 11,041.9
Issuance of common stock through employee stock plans 180.4 100.2
Shares withheld related to net share settlement of equity awards (226.6) (129.7)
Share-based compensation expense related to employee stock plans 152.8 146.0
Repurchase and retirement of common stock   (350.0)
Net income attributable to Intuitive Surgical, Inc. 544.9 355.3
Other comprehensive income (loss) 3.5 54.0
Ending balance $ 13,962.6 $ 11,217.7
Common Stock    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (in shares) 352,300,000 350,000,000.0
Beginning balance $ 0.4 $ 0.4
Issuance of common stock through employee stock plans (in shares) 3,000,000.0 2,400,000
Shares withheld related to net share settlement of equity awards (in shares) (600,000) (500,000)
Repurchase and retirement of common stock (in shares)   (1,500,000)
Ending balance (in shares) 354,700,000 350,400,000
Ending balance $ 0.4 $ 0.4
Additional Paid-In Capital    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 8,576.4 7,703.9
Issuance of common stock through employee stock plans 180.4 100.2
Shares withheld related to net share settlement of equity awards (6.6) (5.9)
Share-based compensation expense related to employee stock plans 152.8 146.0
Repurchase and retirement of common stock   (15.8)
Ending balance 8,903.0 7,928.4
Retained Earnings    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 4,743.0 3,500.1
Shares withheld related to net share settlement of equity awards (220.0) (123.8)
Repurchase and retirement of common stock   (334.2)
Net income attributable to Intuitive Surgical, Inc. 544.9 355.3
Ending balance 5,067.9 3,397.4
Accumulated Other Comprehensive Income (Loss)    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance (12.2) (162.5)
Other comprehensive income (loss) 3.5 54.0
Ending balance (8.7) (108.5)
Noncontrolling Interest in Joint Venture    
Increase (Decrease) in Stockholders' Equity [Roll Forward]    
Beginning balance 89.7 70.7
Other comprehensive income (loss) (0.4) 0.3
Cash dividends declared and payable by joint venture (8.0)  
Net income attributable to noncontrolling interest in joint venture 2.5 5.5
Ending balance $ 83.8 $ 76.5