I know this is an old thread, but since I'm a windscreen fitter by trade, I thought I'd chime in
Rain sensors (also called moisture sensors) don't actually detect moisture - they work on a combination of light and vibration. The light is diminished (refracted) when glass gets wet, and it uses that in conjunction with vibration (the irregular pattern of rain/water hitting a screen) to activate the wipers.
As a windscreen fitter, we have to test rain sensors before and after changing a screen, and on some cars it's as simple as covering the sensor area (outside) with your hand (Rover/MG most susceptible to this), drumming your fingers on the sensor area (outside) (can get some Vauxhalls and VW's to activate this way), or most commonly, spraying the screen with a spray bottle (which we call carry full of glass cleaner anyway) - 99% will activate this way, although some cars only activate the wipers when the vehicle is moving (mainly Mercs)
I don't ever remember seeing an IS200 (or 300) with a rain sensor, but Lexus do, as you guys already know, have rain sensors on many of their vehicles. I'll consult my screen book when I next have it to hand. I did a screen on an RX400H a couple days ago - they have a sensor box that attaches to a metal bracket on the screen, and between the plastic sensor box and the glass is a simple "gum strip" - just a clear rectangle of tacky gum like substance that sticks via friction. It's trapped between the sensor and the screen, and like all the other different types, shapes and consistencies of the other gels, it's purpose is to transmit the vibration from the glass to the sensor itself.
In regard to the gel - some use a "wet" gel (later BMW's, many Renaults, Nissan's and some Mercs - all typically round sensors) where the gel is set, but tacky. Removing these sensors used to mean fitting a new one (you'd get a blank sensor, with no internal PCB, and replace only the outer case, the front part, which has the fresh gel on it, keeping the internals of the old sensor). Other types can be like the pic Ormi posted - which is a set gel, not tacky. The whole sensor, including the gel, comes away from the screen intact, and can be refitted to the new screen without replacing the sensor or the gel - a simple light dusting of glass cleaner (which evaporates) is enough to adhere the gel to the screen for contact. On Jags and pre 2004/5ish VW's, they had small round sensors, which have a gel pad between the sensor and the glass - the sensor pulls off the screen, the gel pad isn't saveable, but we get new pads to stick to the sensor and then to the new screen. Same with most Audi's, which have a similar design, but tear drop shaped. Other BMW's, like the E46 and E39's, Merc ML's, and a host of other cars have the sensor "window" stuck to the new screen - it's a plastic (most often blue, but some cars, like the ML, come with red, and some BMW's and mercs have chrome and blue) bracket fully glued to the glass with a rigid gel. The sensor simply clips on to it.
A point worth noting for anyone messing around with their sensor - mainly applies to Mercs and Beemers, but worth applying to all sensors - if you remove it from the screen, do it with the ignition off and do not turn the ignition on until it has been refitted to the screen. Reason for this is some vehicles (again, mostly Mercs and Beemers) include the rain sensor in it's start up checks. If it's not attached to the glass, the ECU reads that as it's malfunctioning, so it disables it. A trip to the dealer is then needed to re-activate it. Likewise, never unplug the actual sensor if at all avoidable - this can result in "memory loss" where they ECU forgets what the sensor does, so again a trip to the dealer is required (the only one I ever unplug is the VW Beetle, because a) I know it will still work, provided the ignition is not turned on during replacement, and 2) the glass comes with a brand new sensor already fitted, so it's better to swap the plug over to the new sensor, than pull it off and use a new pad)