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Pay vs Performance Disclosure - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Pay vs Performance Disclosure |  |  |  |
Pay vs Performance Disclosure, Table |
Year |  | Summary Compensation Table Total for PEO ($) |  |  |  | Compensation Actually Paid to PEO ($) (1) |  | Average Summary Compensation Table Total for Non-PEO NEOs ($) |  | Average Compensation Actually Paid to Non-PEO NEOs ($) (1) |  | Value of Initial Fixed $100 Investment Based on: |  | Net Income ($ Millions) |  | Adjusted Operating Income ($ Millions) (3)
|  |  |  |  |  |  | Total Shareholder Return ($) |  | Peer Group Index Total Shareholder Return ($) (2) |  |
2023 |  | 12,449,380 |  |  |  |  | 22,725,057 |  |  | 6,881,776 |  |  | 11,584,663 |  |  | 171.21 |  |  | 98.62 |  |  | 1,817.3 |  |  | 2,483.8 |
2022 |  | 10,345,077 |  |  |  |  | 1,606,523 |  |  | 4,985,938 |  |  | 1,158,257 |  |  | 134.66 |  |  | 104.87 |  |  | 1,344.4 |  |  | 2,198.1 |
2021 |  | 8,059,409 |  |  |  |  | 17,458,020 |  |  | 4,462,961 |  |  | 9,386,652 |  |  | 182.34 |  |  | 137.16 |  |  | 1,728.1 |  |  | 2,380.1 |
2020 |  | 6,043,362 |  |  |  |  | 15,011,356 |  |  | 3,477,084 |  |  | 8,127,959 |  |  | 138.39 |  |  | 132.76 |  |  | 1,066.8 |  |  | 1,551.8 |
Company Selected Measure Name | AOI |  |  |
Named Executive Officers, Footnote | Amounts represent compensation actually paid (“CAP”) to our CEO, who was our Principal Executive Officer or “PEO” for each of the years shown, and the average CAP to our remaining NEOs or “Non-PEO NEOs” for the relevant fiscal year, as determined under SEC rules, which includes the individuals indicated below for each fiscal year:
Year | PEO | Non-PEO NEOs |
2023 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton |
2022 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr |
2021 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
2020 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
Amounts represent the Summary Compensation Table Total Compensation for the applicable fiscal year adjusted as follows:
Applicable Fiscal Year (“FY”) |  |  |  |  |  |  |  |  | 2023
|  |  |  |  |  |  |  |  |  |  |  |  | PEO | Average non-PEO NEOs
Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table |  |  |  |  |  |  |  |  |  |  |  |  | (9,827,371) |  | (5,637,133) |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FY End (“FYE”) |  |  |  |  |  |  |  |  |  |  |  |  | 15,563,207 |  | 8,377,935 |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date |  |  |  |  |  |  |  |  |  |  |  |  | 677,346 |  | 292,474 |
Increase/deduction based on ASC 718 Fair Value of Outstanding Unvested Prior FYs Awards as of FYE Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | 3,938,847 |  | 1,739,997 |
Increase/deduction based on ASC 718 Fair Value of Prior FYs Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | (76,352) |  | (70,386) |
Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY |  |  |  |  |  |  |  |  |  |  |  |  | — |  | — |
Total Adjustments |  |  |  |  |  |  |  |  |  |  |  |  | 10,275,677 |  | 4,702,887 |
The fair values of RSUs, PSUs, and stock options included in the CAP to our PEO and the Average CAP to our NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the RSU and PSU fair values from the grant date (for current year grants) and from prior year-end (for prior year RSU grants) are based on our updated stock price at the respective measurement dates and updated performance metric projections (for PSUs). Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, and risk-free rate assumptions. For all years presented, the meaningful increases or decreases in the year-end stock option fair value from the fair value on the grant date were primarily driven by changes in the stock price. |  |  |
Peer Group Issuers, Footnote | For the relevant fiscal year, represents the cumulative TSR of the S&P Health Care Equipment Select Industry Index. |  |  |
PEO Total Compensation Amount | $ 12,449,380 | $ 10,345,077 | $ 8,059,409 | $ 6,043,362
PEO Actually Paid Compensation Amount | $ 22,725,057 | 1,606,523 | 17,458,020 | 15,011,356
Adjustment To PEO Compensation, Footnote | Amounts represent compensation actually paid (“CAP”) to our CEO, who was our Principal Executive Officer or “PEO” for each of the years shown, and the average CAP to our remaining NEOs or “Non-PEO NEOs” for the relevant fiscal year, as determined under SEC rules, which includes the individuals indicated below for each fiscal year:
Year | PEO | Non-PEO NEOs |
2023 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton |
2022 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr |
2021 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
2020 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
Amounts represent the Summary Compensation Table Total Compensation for the applicable fiscal year adjusted as follows:
Applicable Fiscal Year (“FY”) |  |  |  |  |  |  |  |  | 2023
|  |  |  |  |  |  |  |  |  |  |  |  | PEO | Average non-PEO NEOs
Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table |  |  |  |  |  |  |  |  |  |  |  |  | (9,827,371) |  | (5,637,133) |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FY End (“FYE”) |  |  |  |  |  |  |  |  |  |  |  |  | 15,563,207 |  | 8,377,935 |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date |  |  |  |  |  |  |  |  |  |  |  |  | 677,346 |  | 292,474 |
Increase/deduction based on ASC 718 Fair Value of Outstanding Unvested Prior FYs Awards as of FYE Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | 3,938,847 |  | 1,739,997 |
Increase/deduction based on ASC 718 Fair Value of Prior FYs Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | (76,352) |  | (70,386) |
Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY |  |  |  |  |  |  |  |  |  |  |  |  | — |  | — |
Total Adjustments |  |  |  |  |  |  |  |  |  |  |  |  | 10,275,677 |  | 4,702,887 |
The fair values of RSUs, PSUs, and stock options included in the CAP to our PEO and the Average CAP to our NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the RSU and PSU fair values from the grant date (for current year grants) and from prior year-end (for prior year RSU grants) are based on our updated stock price at the respective measurement dates and updated performance metric projections (for PSUs). Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, and risk-free rate assumptions. For all years presented, the meaningful increases or decreases in the year-end stock option fair value from the fair value on the grant date were primarily driven by changes in the stock price. |  |  |
Non-PEO NEO Average Total Compensation Amount | $ 6,881,776 | 4,985,938 | 4,462,961 | 3,477,084
Non-PEO NEO Average Compensation Actually Paid Amount | $ 11,584,663 | 1,158,257 | 9,386,652 | 8,127,959
Adjustment to Non-PEO NEO Compensation Footnote | Amounts represent compensation actually paid (“CAP”) to our CEO, who was our Principal Executive Officer or “PEO” for each of the years shown, and the average CAP to our remaining NEOs or “Non-PEO NEOs” for the relevant fiscal year, as determined under SEC rules, which includes the individuals indicated below for each fiscal year:
Year | PEO | Non-PEO NEOs |
2023 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton |
2022 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr |
2021 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
2020 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
Amounts represent the Summary Compensation Table Total Compensation for the applicable fiscal year adjusted as follows:
Applicable Fiscal Year (“FY”) |  |  |  |  |  |  |  |  | 2023
|  |  |  |  |  |  |  |  |  |  |  |  | PEO | Average non-PEO NEOs
Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table |  |  |  |  |  |  |  |  |  |  |  |  | (9,827,371) |  | (5,637,133) |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FY End (“FYE”) |  |  |  |  |  |  |  |  |  |  |  |  | 15,563,207 |  | 8,377,935 |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date |  |  |  |  |  |  |  |  |  |  |  |  | 677,346 |  | 292,474 |
Increase/deduction based on ASC 718 Fair Value of Outstanding Unvested Prior FYs Awards as of FYE Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | 3,938,847 |  | 1,739,997 |
Increase/deduction based on ASC 718 Fair Value of Prior FYs Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | (76,352) |  | (70,386) |
Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY |  |  |  |  |  |  |  |  |  |  |  |  | — |  | — |
Total Adjustments |  |  |  |  |  |  |  |  |  |  |  |  | 10,275,677 |  | 4,702,887 |
The fair values of RSUs, PSUs, and stock options included in the CAP to our PEO and the Average CAP to our NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the RSU and PSU fair values from the grant date (for current year grants) and from prior year-end (for prior year RSU grants) are based on our updated stock price at the respective measurement dates and updated performance metric projections (for PSUs). Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, and risk-free rate assumptions. For all years presented, the meaningful increases or decreases in the year-end stock option fair value from the fair value on the grant date were primarily driven by changes in the stock price. |  |  |
Equity Valuation Assumption Difference, Footnote | Amounts represent compensation actually paid (“CAP”) to our CEO, who was our Principal Executive Officer or “PEO” for each of the years shown, and the average CAP to our remaining NEOs or “Non-PEO NEOs” for the relevant fiscal year, as determined under SEC rules, which includes the individuals indicated below for each fiscal year:
Year | PEO | Non-PEO NEOs |
2023 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton |
2022 | Gary S. Guthart, Ph.D. | Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr |
2021 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
2020 | Gary S. Guthart, Ph.D. | Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S. |
Amounts represent the Summary Compensation Table Total Compensation for the applicable fiscal year adjusted as follows:
Applicable Fiscal Year (“FY”) |  |  |  |  |  |  |  |  | 2023
|  |  |  |  |  |  |  |  |  |  |  |  | PEO | Average non-PEO NEOs
Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table |  |  |  |  |  |  |  |  |  |  |  |  | (9,827,371) |  | (5,637,133) |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FY End (“FYE”) |  |  |  |  |  |  |  |  |  |  |  |  | 15,563,207 |  | 8,377,935 |
Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date |  |  |  |  |  |  |  |  |  |  |  |  | 677,346 |  | 292,474 |
Increase/deduction based on ASC 718 Fair Value of Outstanding Unvested Prior FYs Awards as of FYE Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | 3,938,847 |  | 1,739,997 |
Increase/deduction based on ASC 718 Fair Value of Prior FYs Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE |  |  |  |  |  |  |  |  |  |  |  |  | (76,352) |  | (70,386) |
Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY |  |  |  |  |  |  |  |  |  |  |  |  | — |  | — |
Total Adjustments |  |  |  |  |  |  |  |  |  |  |  |  | 10,275,677 |  | 4,702,887 |
The fair values of RSUs, PSUs, and stock options included in the CAP to our PEO and the Average CAP to our NEOs are calculated at the required measurement dates, consistent with the approach used to value the awards at the grant date as described in our Annual Report on Form 10-K for the year ended December 31, 2023. Any changes to the RSU and PSU fair values from the grant date (for current year grants) and from prior year-end (for prior year RSU grants) are based on our updated stock price at the respective measurement dates and updated performance metric projections (for PSUs). Changes to the stock option fair values are based on the updated stock price at the respective measurement dates, in addition to updated expected option term, implied volatility of our stock over the updated expected option term, and risk-free rate assumptions. For all years presented, the meaningful increases or decreases in the year-end stock option fair value from the fair value on the grant date were primarily driven by changes in the stock price. |  |  |
Compensation Actually Paid vs. Total Shareholder Return | The following chart sets forth the relationship between CAP to our PEO, the average of CAP to our other NEOs, each as set forth in the Table above, and our cumulative TSR over the period from 2020 through 2023. |  |  |
Compensation Actually Paid vs. Net Income | The following chart sets forth the relationship between CAP to our PEO, the average of CAP to our other NEOs, and our net income during years 2020 through 2023, each as set forth in the table above. |  |  |
Compensation Actually Paid vs. Company Selected Measure | The following chart sets forth the relationship between CAP to our PEO, the average of CAP to our other NEOs, and the AOI during years 2020 through 2023, each as set forth in the table above. |  |  |
Total Shareholder Return Vs Peer Group | The following chart compares our cumulative TSR over the period from 2020 through 2023 to that of the Peer Group Index over the same time period. |  |  |
Tabular List, Table |
Performance measure | Performance measure description
AOI | Refer to the “Annual Cash Bonus Plan Formula and Funding” subsection of the “Executive Compensation” section for a definition of this measure.
Relative TSR | Refer to the “Long-Term Incentive Compensation” subsection of the “Executive Compensation” section for a definition of this measure.
Da Vinci and Ion procedure growth | Refer to the “Long-Term Incentive Compensation” subsection of the “Executive Compensation” section for a description of this measure.
Total Shareholder Return Amount | $ 171.21 | 134.66 | 182.34 | 138.39
Peer Group Total Shareholder Return Amount | 98.62 | 104.87 | 137.16 | 132.76
Net Income (Loss) | $ 1,817,300,000 | $ 1,344,400,000 | $ 1,728,100,000 | $ 1,066,800,000
Company Selected Measure Amount | 2,483,800,000 | 2,198,100,000 | 2,380,100,000 | 1,551,800,000
PEO Name | Gary S. Guthart, Ph.D. | Gary S. Guthart, Ph.D. | Gary S. Guthart, Ph.D. | Gary S. Guthart, Ph.D.
Measure:: 1 |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Name | AOI |  |  |
Non-GAAP Measure Description | AOI is an operating metric defined in the “Annual Cash Bonus Plan Formula and Funding” subsection of the “Executive Compensation” section. AOI is calculated as operating income, excluding CIP expense, share-based compensation and long-term incentive plan expenses, non-cash amortization of intangible assets, certain acquisition-related items for the re-measurement of contingent consideration, facilities asset abandonment charges, litigation charges and recoveries, contributions to the Intuitive Foundation, and other adjustments, primarily related to inventory cost accounting and operating expense hedging. The Company selected AOI as the Company-Selected Measure due to it being an important financial performance measure that helps link CAP to the Company’s NEOs to the Company’s performance for the most recently completed fiscal year. Specifically, AOI is used to evaluate NEO performance under the CIP, a short-term cash incentive plan that is funded based on the Company’s achievement of an AOI goal as well as several other Company Performance Goals. |  |  |
Measure:: 2 |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Other Performance Measure, Amount | 100 |  |  |
Name | Relative TSR |  |  |
Measure:: 3 |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Name | Da Vinci and Ion procedure growth |  |  |
PEO |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | $ 10,275,677 |  |  |
PEO | Adjustment, Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | (9,827,371) |  |  |
PEO | Adjustment, Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 15,563,207 |  |  |
PEO | Adjustment, Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 677,346 |  |  |
PEO | Adjustment, Increase (Deduction) based on ASC 718 Fair Value of Outstanding Unvested Prior FY Awards as of FYE Compared to Valuation as of Prior FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 3,938,847 |  |  |
PEO | Adjustment, Increase (Deduction) based on ASC 718 Fair Value of Prior FY Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | (76,352) |  |  |
PEO | Adjustment, Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 0 |  |  |
Non-PEO NEO |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 4,702,887 |  |  |
Non-PEO NEO | Adjustment, Deduction for ASC 718 Fair Value as of Grant Date Reported under the Stock Awards and Option Awards Columns in the Summary Compensation Table [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | (5,637,133) |  |  |
Non-PEO NEO | Adjustment, Increase based on ASC 718 Fair Value of Awards Granted during the FY that Remain Unvested as of FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 8,377,935 |  |  |
Non-PEO NEO | Adjustment, Increase based on ASC 718 Fair Value of Awards Granted during the FY that Vested during the FY as of Vesting Date [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 292,474 |  |  |
Non-PEO NEO | Adjustment, Increase (Deduction) based on ASC 718 Fair Value of Outstanding Unvested Prior FY Awards as of FYE Compared to Valuation as of Prior FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | 1,739,997 |  |  |
Non-PEO NEO | Adjustment, Increase (Deduction) based on ASC 718 Fair Value of Prior FY Awards that Vested during the FY as of Vesting Date Compared to Valuation as of Prior FYE [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | (70,386) |  |  |
Non-PEO NEO | Adjustment, Deduction of ASC 718 Fair Value of Prior FY Awards as of Prior FYE that were Forfeited during the FY [Member] |  |  |  |
Pay vs Performance Disclosure |  |  |  |
Adjustment to Compensation, Amount | $ 0 |  |  |

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