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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)
202312,449,380 22,725,057 6,881,776 11,584,663 171.21 98.62 1,817.3 2,483.8 
202210,345,077 1,606,523 4,985,938 1,158,257 134.66 104.87 1,344.4 2,198.1 
20218,059,409 17,458,020 4,462,961 9,386,652 182.34 137.16 1,728.1 2,380.1 
20206,043,362 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:
YearPEONon-PEO NEOs
2023Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton
2022Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr
2021Gary S. Guthart, Ph.D.Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S.
2020Gary 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
PEOAverage 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 Date677,346 292,474 
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 Adjustments10,275,677 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:
YearPEONon-PEO NEOs
2023Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton
2022Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr
2021Gary S. Guthart, Ph.D.Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S.
2020Gary 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
PEOAverage 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 Date677,346 292,474 
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 Adjustments10,275,677 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:
YearPEONon-PEO NEOs
2023Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton
2022Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr
2021Gary S. Guthart, Ph.D.Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S.
2020Gary 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
PEOAverage 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 Date677,346 292,474 
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 Adjustments10,275,677 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:
YearPEONon-PEO NEOs
2023Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Henry L. Charlton
2022Gary S. Guthart, Ph.D.Jamie E. Samath, David J. Rosa, Bob DeSantis, and Marshall L. Mohr
2021Gary S. Guthart, Ph.D.Marshall L. Mohr, David J. Rosa, Bob DeSantis, and Myriam J. Curet, M.D., F.A.C.S.
2020Gary 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
PEOAverage 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 Date677,346 292,474 
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 Adjustments10,275,677 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.
2023_PEO_AverageNEO-Compensation_TSR_R4.jpg
      
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.
2023_PEO_AverageNEO-Compensation_NetIncome_R4.jpg
      
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.
2023_PEO_AverageNEO-Compensation_AOI_R5.jpg
      
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.
2023_PayPerformaceTSR_R4.jpg
      
Tabular List, Table
Performance measurePerformance 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