STOCKHOLDERS' EQUITY - Schedule of Stockholders Equity (Details) - USD ($) shares in Thousands, $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance (in shares)	116,000
Beginning balance	$ 8,284.7	$ 6,687.5
Issuance of common stock through employee stock plans	91.3	88.8
Shares withheld related to net share settlement of equity awards	(148.9)	(138.6)
Share-based compensation expense related to employee stock plans	90.6	76.1
Repurchase and retirement of common stock	(100.0)
Net income attributable to Intuitive Surgical, Inc.	313.5	306.5
Other comprehensive income (loss)	(3.3)	12.6
Capital contribution from noncontrolling interest	0.0	10.0
Less: net loss attributable to noncontrolling interest in joint venture	$ 2.7	(2.5)
Ending balance (in shares)	116,600
Ending balance	$ 8,530.5	$ 7,040.4
Adoption of new accounting standard
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	$ (0.1)
Common Stock
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance (in shares)	116,000	114,500
Beginning balance	$ 0.1	$ 0.1
Issuance of common stock through employee stock plans (in shares)	1,100	1,200
Shares withheld related to net share settlement of equity awards	300	(300)
Repurchase and retirement of common stock (in shares)	(200)
Ending balance (in shares)	116,600	115,400
Ending balance	$ 0.1	$ 0.1
Additional Paid-In Capital
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	5,756.8	5,170.3
Issuance of common stock through employee stock plans	91.3	88.8
Shares withheld related to net share settlement of equity awards	(6.7)	(6.4)
Share-based compensation expense related to employee stock plans	90.6	76.1
Repurchase and retirement of common stock	(5.2)
Ending balance	5,926.8	5,328.8
Retained Earnings
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	2,494.5	1,521.7
Shares withheld related to net share settlement of equity awards	(142.2)	(132.2)
Repurchase and retirement of common stock	(94.8)
Net income attributable to Intuitive Surgical, Inc.	313.5	306.5
Ending balance	2,570.9	1,696.0
Retained Earnings | Adoption of new accounting standard
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(0.1)
Accumulated Other Comprehensive Income (Loss)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	12.4	(13.3)
Other comprehensive income (loss)	(3.5)	12.6
Ending balance	8.9	(0.7)
Total Intuitive Surgical, Inc. Stockholders’ Equity
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	8,263.8	6,678.8
Issuance of common stock through employee stock plans	91.3	88.8
Shares withheld related to net share settlement of equity awards	(148.9)	(138.6)
Share-based compensation expense related to employee stock plans	90.6	76.1
Repurchase and retirement of common stock	(100.0)
Net income attributable to Intuitive Surgical, Inc.	313.5	306.5
Other comprehensive income (loss)	(3.5)	12.6
Ending balance	8,506.7	7,024.2
Total Intuitive Surgical, Inc. Stockholders’ Equity | Adoption of new accounting standard
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	(0.1)
Noncontrolling Interest in Joint Venture
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Beginning balance	20.9	8.7
Other comprehensive income (loss)	0.2
Capital contribution from noncontrolling interest		10.0
Less: net loss attributable to noncontrolling interest in joint venture	2.7	(2.5)
Ending balance	$ 23.8	$ 16.2