Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Millions			12 Months Ended
	Dec. 31, 2018	Jun. 11, 2018	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract]
Other commitments			$ 845.0
Commitments And Contingencies [Line Items]
Pre-tax settlement charges			0.5	$ 45.2	$ 16.3
Accrued liabilities, product liability claims	$ 53.0		4.2	53.0
Settlement agreement payment		$ 42.5
Pre-tax loss			42.5
Prepaid and other current assets
Commitments And Contingencies [Line Items]
Settlement agreement payment	42.5
da Vinci Surgical System Product Liability Matters
Commitments And Contingencies [Line Items]
Pre-tax settlement charges			0.5	2.7	$ 16.3
Accrued liabilities, product liability claims	$ 10.5		$ 4.2	$ 10.5