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Stock Compensation - RSU and PSU award activity (Details)
 3 Months Ended
Mar. 31, 2022
$ / shares
shares
Shares Subject to Outstanding Options, Shares  
Outstanding at the beginning of the period (in shares) | shares 3,966,888
Outstanding at the end of the period (in shares) | shares 4,055,392
Shares Subject to Outstanding Options, Weighted Average Exercise Price  
Outstanding at the beginning of the period (in dollars per share) | $ / shares $ 84.91
Outstanding at the end of the period (in dollars per share) | $ / shares $ 84.11
Restricted Stock Units (RSUs)  
Shares Subject to Outstanding Options, Shares  
Granted (in shares) | shares 302,153
Released (in shares) | shares (113,019)
Cancelled (in shares) | shares (99,567)
Shares Subject to Outstanding Options, Weighted Average Exercise Price  
Granted (in dollars per share) | $ / shares $ 74.30
Released (in dollars per share) | $ / shares 83.95
Cancelled (in dollars per share) | $ / shares $ 86.46
Performance Stock Units (PSUs)  
Shares Subject to Outstanding Options, Shares  
Cancelled (in shares) | shares (1,063)
Shares Subject to Outstanding Options, Weighted Average Exercise Price  
Cancelled (in dollars per share) | $ / shares $ 65.76