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Stock Compensation - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock compensation |  |  |
Stock compensation expense | $ 188.4 | $ 183.0 | $ 177.9
Dividend yield | 0.00% |  |
Research and Development Expense |  |  |
Stock compensation |  |  |
Stock compensation expense | $ 112.5 | 114.3 | 120.4
Selling, General and Administrative Expenses |  |  |
Stock compensation |  |  |
Stock compensation expense | 73.2 | 67.0 | 56.6
Cost of Sales |  |  |
Stock compensation |  |  |
Stock compensation expense | $ 2.7 | 1.7 | 1.0
Options |  |  |
Stock compensation |  |  |
Assumed annualized forfeiture rate | 5.00% |  |
Unrecognized compensation cost for nonvested option | $ 40.9 |  |
Vesting period of recognition of the unrecognized compensation cost of nonvested awards | 1 year |  |
Restricted Stock Units (RSUs) |  |  |
Stock compensation |  |  |
Assumed annualized forfeiture rate | 5.00% |  |
Unrecognized compensation cost for nonvested option | $ 200.7 |  |
Vesting period of recognition of the unrecognized compensation cost of nonvested awards | 1 year 9 months 18 days |  |
Performance Shares |  |  |
Stock compensation |  |  |
Stock compensation expense | $ 7.8 | $ 8.3 | $ 13.9
Assumed annualized forfeiture rate | 5.00% |  |
Unrecognized compensation cost for nonvested option | $ 26.4 |  |
Vesting period of recognition of the unrecognized compensation cost of nonvested awards | 1 year 10 months 24 days |  |

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