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Summary of Significant Accounting Policies - Anti-dilutive Securities (Details) - shares
shares in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Common stock options      
Anti-dilutive securities excluded from computations of diluted weighted-average common shares outstanding      
Potentially dilutive securities excluded from computations of diluted weighted-average shares outstanding (in shares) 22,513 17,525 14,089
Unvested RS and RSUs      
Anti-dilutive securities excluded from computations of diluted weighted-average common shares outstanding      
Potentially dilutive securities excluded from computations of diluted weighted-average shares outstanding (in shares) 2,750 1,520 1,020
PSUs      
Anti-dilutive securities excluded from computations of diluted weighted-average common shares outstanding      
Potentially dilutive securities excluded from computations of diluted weighted-average shares outstanding (in shares) 666 671 0
Convertible debt securities      
Anti-dilutive securities excluded from computations of diluted weighted-average common shares outstanding      
Potentially dilutive securities excluded from computations of diluted weighted-average shares outstanding (in shares) 23,438 23,438 23,438