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STOCKHOLDERS' EQUITY
 3 Months Ended
Mar. 31, 2024
Equity [Abstract]  
STOCKHOLDERS' EQUITY STOCKHOLDERS’ EQUITY
Stockholders’ Equity
The following tables present the changes in stockholders’ equity (in millions):
Three Months Ended March 31, 2024
Common StockAdditional Paid-In CapitalRetained EarningsAccumulated Other Comprehensive Income (Loss)Total Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance352.3 $0.4 $8,576.4 $4,743.0 $(12.2)$13,307.6 $89.7 $13,397.3 
Issuance of common stock through employee stock plans3.0 — 180.4 — — 180.4 — 180.4 
Shares withheld related to net share settlement of equity awards(0.6)— (6.6)(220.0)— (226.6)— (226.6)
Share-based compensation expense related to employee stock plans— — 152.8 — — 152.8 — 152.8 
Net income attributable to Intuitive Surgical, Inc.— — — 544.9 — 544.9 — 544.9 
Other comprehensive income (loss)— — — — 3.5 3.5 (0.4)3.1 
Cash dividends declared and payable by joint venture
— — — — — — (8.0)(8.0)
Net income attributable to noncontrolling interest in joint venture— — — — — — 2.5 2.5 
Ending balance354.7 $0.4 $8,903.0 $5,067.9 $(8.7)$13,962.6 $83.8 $14,046.4 
Three Months Ended March 31, 2023
Common StockAdditional
Paid-In
Capital		Retained
Earnings		Accumulated
Other
Comprehensive
Income (Loss)		Total Intuitive Surgical, Inc. Stockholders’ EquityNoncontrolling Interest in Joint VentureTotal Stockholders’ Equity
SharesAmount
Beginning balance
350.0 $0.4 $7,703.9 $3,500.1 $(162.5)$11,041.9 $70.7 $11,112.6 
Issuance of common stock through employee stock plans2.4 — 100.2 — — 100.2 — 100.2 
Shares withheld related to net share settlement of equity awards(0.5)— (5.9)(123.8)— (129.7)— (129.7)
Share-based compensation expense related to employee stock plans— — 146.0 — — 146.0 — 146.0 
Repurchase and retirement of common stock(1.5)— (15.8)(334.2)— (350.0)— (350.0)
Net income attributable to Intuitive Surgical, Inc.— — — 355.3 — 355.3 — 355.3 
Other comprehensive income (loss)
— — — — 54.0 54.0 0.3 54.3 
Net income attributable to noncontrolling interest in joint venture— — — — — — 5.5 5.5 
Ending balance
350.4 $0.4 $7,928.4 $3,397.4 $(108.5)$11,217.7 $76.5 $11,294.2 
Stock Repurchase Program
The Company’s Board of Directors (the “Board”) has authorized an aggregate of $10.0 billion of funding for the Company’s common stock repurchase program (the “Repurchase Program”) since its establishment in March 2009. The most recent authorization occurred in July 2022, when the Board increased the authorized amount available under the Repurchase Program to $3.5 billion, including amounts remaining under previous authorization. As of March 31, 2024, the remaining amount of share repurchases authorized by the Board under the Repurchase Program was approximately $1.1 billion.
The following table summarizes stock repurchase activities (in millions, except per share amounts):
 Three Months Ended March 31,
 20242023
Shares repurchased— 1.5 
Average price per share$— $238.1 
Value of shares repurchased$— $350.0 
Accumulated Other Comprehensive Loss, Net of Tax, Attributable to Intuitive Surgical, Inc.
The components of accumulated other comprehensive loss, net of tax, attributable to Intuitive Surgical, Inc. are as follows (in millions):
 Three Months Ended March 31, 2024
 Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$(2.5)$(29.7)$19.4 $0.6 $(12.2)
Other comprehensive income (loss) before reclassifications4.1 (4.3)2.2 — 2.0 
Amounts reclassified from accumulated other comprehensive income (loss)1.5 0.1 — (0.1)1.5 
Net current-period other comprehensive income (loss)5.6 (4.2)2.2 (0.1)3.5 
Ending balance$3.1 $(33.9)$21.6 $0.5 $(8.7)
 Three Months Ended March 31, 2023
 Gains (Losses)
on Hedge
Instruments		Unrealized Gains
(Losses) on Available-for-Sale Securities		Foreign
Currency
Translation
Gains (Losses)		Employee Benefit PlansTotal
Beginning balance$(2.9)$(154.2)$(6.6)$1.2 $(162.5)
Other comprehensive income (loss) before reclassifications3.7 37.8 13.9 — 55.4 
Amounts reclassified from accumulated other comprehensive income (loss)(1.2)(0.2)— — (1.4)
Net current-period other comprehensive income (loss)2.5 37.6 13.9 — 54.0 
Ending balance$(0.4)$(116.6)$7.3 $1.2 $(108.5)
The tax impacts for amounts recognized in other comprehensive income before reclassifications were as follows (in millions):
Three Months Ended March 31,
Available-for-sale securities20242023
Income tax benefit (expense) for net gains (losses) recorded in other comprehensive income
$1.3 $(10.9)
The tax impacts for amounts recognized in other comprehensive income before reclassifications for hedge instruments, foreign currency translation gains (losses), and employee benefit plans for the three months ended March 31, 2024, and 2023, were not material to the Company’s Financial Statements. The tax impacts for amounts reclassified from accumulated other comprehensive loss relating to hedge instruments, available-for-sale securities, foreign currency translation gains (losses), and employee benefit plans for the three months ended March 31, 2024, and 2023, were not material to the Company’s Financial Statements.