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REVENUE AND CONTRACT ACQUISITION COSTS (Tables)
 6 Months Ended
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Disaggregated by Types and Geography
The following table presents revenue disaggregated by types and geography (in millions):
Three Months Ended June 30,Six Months Ended June 30,
U.S.2023202220232022
Instruments and accessories$763.3 $625.1 $1,464.7 $1,175.7 
Systems189.8 218.0 411.6 466.3 
Services189.4 168.0 376.1 333.9 
Total U.S. revenue
$1,142.5 $1,011.1 $2,252.4 $1,975.9 
Outside of U.S. (“OUS”)
Instruments and accessories$312.6 $270.2 $596.8 $529.9 
Systems202.9 157.1 408.5 336.9 
Services97.9 83.7 194.4 167.1 
Total OUS revenue
$613.4 $511.0 $1,199.7 $1,033.9 
Total
Instruments and accessories$1,075.9 $895.3 $2,061.5 $1,705.6 
Systems392.7 375.1 820.1 803.2 
Services287.3 251.7 570.5 501.0 
Total revenue
$1,755.9 $1,522.1 $3,452.1 $3,009.8 
Summary of Contract Assets and Liabilities
The following information summarizes the Company’s contract assets and liabilities (in millions):
As of
 June 30, 2023December 31, 2022
Contract assets$48.1 $45.0 
Deferred revenue$450.6 $438.3 
Sales-type Lease Revenue
The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Sales-type lease revenue$12.3 $50.1 $35.3 $85.7 
Operating lease revenue*$122.7 $93.0 $234.7 $176.2 
*Variable lease revenue relating to usage-based arrangements included within operating lease revenue$53.2 $33.6 $99.2 $58.5 
Operating Lease Revenue
The following table presents product revenue from Intuitive System Leasing arrangements (in millions):
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Sales-type lease revenue$12.3 $50.1 $35.3 $85.7 
Operating lease revenue*$122.7 $93.0 $234.7 $176.2 
*Variable lease revenue relating to usage-based arrangements included within operating lease revenue$53.2 $33.6 $99.2 $58.5