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| In millions, except per share items | Dec-31-21 | Dec-31-20 | Dec-31-19 | Dec-31-18 | Dec-31-17 | Dec-31-16 | Dec-31-15 | Dec-31-14 |
| | 10-K | 10-K | 10-K | 10-K | 10-K | 10-K | 10-K | 10-K |
| Revenue: | | | | | | | | |
| Total revenue | 5,710.1 | 4,358.4 | 4,478.5 | 3,724.2 | 3,138.2 | 2,706.5 | 2,384.4 | 2,131.7 |
| Total revenue growth | 31.0% | -2.7% | 20.3% | 18.7% | 16.0% | 13.5% | 11.9% | -5.9% |
| Cost of revenue: | | | | | | | | |
| Total cost of revenue | 1,751.6 | 1,497.2 | 1,368.3 | 1,120.1 | 936.2 | 813.6 | | |
| Gross profit | 3,958.5 | 2,861.2 | 3,110.2 | 2,604.1 | 2,202.0 | 1,892.9 | 1,577.9 | 1,413.8 |
| Gross margin | 69.3% | 65.6% | 69.4% | 69.9% | 70.2% | 69.9% | 66.2% | 66.3% |
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| Operating expenses: | | | | | | | | |
| Selling, general and administrative | 1,466.5 | 1,216.3 | 1,178.4 | 986.6 | 810.5 | 703.6 | 640.5 | 691.0 |
| Research and development | 671.0 | 595.1 | 557.3 | 418.1 | 328.6 | 239.6 | 197.4 | 178.0 |
| Total operating expenses | 4,577.4 | 3,809.3 | 3,682.0 | 2,935.1 | 2,344.0 | 943.2 | 837.9 | 869.0 |
| Income from operations | 1,821.0 | 1,049.8 | 1,374.5 | 1,199.4 | 1,062.9 | 949.7 | 740.0 | 544.8 |
| Operating margin | 31.9% | 24.1% | 30.7% | 32.2% | 33.9% | 35.1% | 31.0% | 25.6% |
| Interest and other income, net | 69.3 | 157.2 | 127.7 | 80.1 | 41.9 | 35.6 | 18.5 | 4.2 |
| Income before taxes | 1,890.3 | 1,207.0 | 1,502.2 | | | | | |
| Income tax expense | 162.2 | 140.2 | 120.4 | 154.5 | 433.9 | 247.0 | 169.7 | 130.2 |
| Net income | 1,728.1 | 1,066.8 | 1,381.8 | 1,125.0 | 670.9 | 738.3 | | |
| Less: net income attributable to noncontrolling interest in joint venture | 23.5 | 6.2 | 2.5 | -2.9 | -0.4 | | | |
| Net income attributable to Intuitive Surgical, Inc. | 1,704.6 | 1,060.6 | 1,379.3 | 1,127.9 | 670.9 | 738.3 | 588.8 | 418.8 |
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| Net income per share attributable to Intuitive Surgical, Inc.: | | | | | | | | |
| Basic (in dollars per share) | $4.79 | $3.02 | $3.98 | $9.92 | $6.01 | $6.43 | $5.29 | $11.35 |
| Diluted (in dollars per share) | $4.66 | $2.94 | $3.85 | $9.49 | $5.77 | $6.26 | $5.18 | $11.11 |
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| Shares used in computing net income per share attributable to Intuitive Surgical, Inc.: | | | | | | | | |
| Basic (in shares) | 356.1 | 351.1 | 346.2 | 113.7 | 111.7 | 114.9 | 111.3 | 36.9 |
| Diluted (in shares) | 365.8 | 361.0 | 358.4 | 118.8 | 116.3 | 117.9 | 113.7 | 37.7 |
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| Other comprehensive loss, net of tax: | | | | | | | | |
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| Change in prior service cost for employee benefit plans | | | | | | | | |
| Other comprehensive loss | | | | | | | | |
| Total comprehensive income | | | | | | | | |
| Total comprehensive income attributable to Intuitive Surgical, Inc. | 1,655.5 | 1,073.1 | 1,405.0 | 1,130.1 | 664.3 | 738.9 | 584.4 | 411.6 |
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