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Stockholders' Equity - Option activity (Details)
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Shares  
Outstanding at the beginning of the period (in shares) | shares 12,763,460
Options granted (in shares) | shares 1,856,979
Options exercised (in shares) | shares (631,354)
Options cancelled (in shares) | shares (1,338,726)
Outstanding at the end of the period (in shares) | shares 12,650,359
Grant Date Value  
Outstanding at the beginning of the period (in dollars per share) | $ / shares $ 88.39
Options granted (in dollars per share) | $ / shares 75.26
Options exercised (in dollars per share) | $ / shares 68.04
Options cancelled (in dollars per share) | $ / shares 90.55
Outstanding at the end of the period (in dollars per share) | $ / shares $ 87.25