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Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Options outstanding beginning of the year (in shares) 17,525,296 14,088,960 12,263,402
Granted (in shares) 6,650,880 5,614,220 4,039,360
Exercised (in shares) (871,933) (1,151,341) (1,235,186)
Forfeited and expired (in shares) (791,674) (1,026,543) (978,616)
Options outstanding end of the year (in shares) 22,512,569 17,525,296 14,088,960
Exercisable (in shares) 11,125,232 8,587,820 7,292,851
Weighted Average Exercise Price      
Options outstanding beginning of the year (in dollars per share) $ 21.93 $ 22.00 $ 18.84
Granted (in dollars per share) 20.20 20.89 30.18
Exercised (in dollars per share) 16.03 14.41 15.50
Forfeited and expired (in dollars per share) 24.01 25.70 24.35
Options outstanding end of the year (in dollars per share) 21.58 21.93 22.00
Exercisable (in dollars per share) $ 21.41 $ 20.35 $ 17.97
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted Average Remaining Contractual Life in Years, Options outstanding 7 years 29 days    
Weighted Average Remaining Contractual Life in Years, Exercisable 5 years 5 months 1 day    
Aggregate Intrinsic Value, Options outstanding $ 216,537    
Aggregate Intrinsic Value, Exercisable $ 109,109