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Stockholders' Equity - Narrative (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Jun. 30, 2016
Jul. 31, 2016
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
May 31, 2021
Apr. 30, 2021
Stock Compensation Plans              
Preferred stock, shares authorized (in shares)     5,000,000 5,000,000      
Preferred stock, shares outstanding (in shares)     0 0      
Common stock, shares authorized (in shares)     400,000,000 400,000,000      
Shares reserved for future issuance related to stock plans (in shares)     5,428,932        
Options exercisable and vested (in shares)     8,952,289 8,024,951 6,732,942    
Intrinsic value of options exercised     $ 6.0 $ 12.7 $ 87.5    
Intrinsic value of options outstanding     36.9        
Intrinsic value of vested options     36.3        
Stock compensation expense     $ 188.4 $ 183.0 $ 177.9    
Number of shares issued (in shares)     308,413 264,503 258,453    
Remaining shares available (in shares)     5,056,370 10,113,298      
Employee Stock              
Stock Compensation Plans              
Stock compensation expense     $ 4.7 $ 4.6 $ 4.6    
Employment period for eligibility to participate in the plan     1 month        
Number of shares issued (in shares)     308,413 264,503 258,453    
Remaining shares available (in shares)     372,562        
Minimum | Employee Stock              
Stock Compensation Plans              
Number of employee working hours per week for eligibility to participate in the plan     20 hours        
Stock Incentive Plan 2010              
Stock Compensation Plans              
Shares reserved for future issuance related to stock plans (in shares)           53,953,475 44,453,475
Options              
Stock Compensation Plans              
Expiration period 7 years            
Termination period 7 years            
Vesting period 3 years 4 years          
Options | Share-based Payment Arrangement, Tranche One              
Stock Compensation Plans              
Vesting period 1 year 1 year          
Vesting percentage 33.00% 25.00%          
Options | Share-based Payment Arrangement, Tranche Two              
Stock Compensation Plans              
Vesting period 24 months 36 months          
Options | Non-employee Director              
Stock Compensation Plans              
Expiration period   10 years          
Termination period   10 years          
Restricted Stock Units (RSUs)              
Stock Compensation Plans              
Vesting period     4 years        
Vesting percentage     25.00%        
Number of shares awarded for each RSU (in shares)     1        
Performance Shares              
Stock Compensation Plans              
Vesting period     4 years        
Stock compensation expense     $ 7.8 $ 8.3 $ 13.9    
Performance Shares | Minimum              
Stock Compensation Plans              
Vesting period     3 years        
Performance Shares | Maximum              
Stock Compensation Plans              
Vesting period     4 years