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Stockholders' Equity - Stock options outstanding (Details)
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Options Outstanding  
Number Outstanding (in shares) | shares 12,650,359
Options Exercisable  
Number Exercisable (in shares) | shares 8,952,289
$22.74 - $71.35  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) $ 22.74
Exercise price, upper range limit (in dollars per share) $ 71.35
Options Outstanding  
Number Outstanding (in shares) | shares 1,287,329
Weighted Average Remaining Contractual Life (in years) 5 years 10 months 28 days
Weighted Average Exercise Price (in dollars per share) $ 66.52
Options Exercisable  
Number Exercisable (in shares) | shares 1,041,737
Weighted Average Exercise Price (in dollars per share) $ 66.04
$72.27 - $73.21  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 72.27
Exercise price, upper range limit (in dollars per share) $ 73.21
Options Outstanding  
Number Outstanding (in shares) | shares 1,332,303
Weighted Average Remaining Contractual Life (in years) 5 years 8 months 15 days
Weighted Average Exercise Price (in dollars per share) $ 72.33
Options Exercisable  
Number Exercisable (in shares) | shares 845,035
Weighted Average Exercise Price (in dollars per share) $ 72.36
$73.29 - $77.03  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 73.29
Exercise price, upper range limit (in dollars per share) $ 77.03
Options Outstanding  
Number Outstanding (in shares) | shares 1,270,062
Weighted Average Remaining Contractual Life (in years) 8 years 5 months 26 days
Weighted Average Exercise Price (in dollars per share) $ 74.92
Options Exercisable  
Number Exercisable (in shares) | shares 489,675
Weighted Average Exercise Price (in dollars per share) $ 74.84
$77.40 - $80.50  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 77.40
Exercise price, upper range limit (in dollars per share) $ 80.50
Options Outstanding  
Number Outstanding (in shares) | shares 1,361,117
Weighted Average Remaining Contractual Life (in years) 7 years 8 months 8 days
Weighted Average Exercise Price (in dollars per share) $ 79.23
Options Exercisable  
Number Exercisable (in shares) | shares 711,704
Weighted Average Exercise Price (in dollars per share) $ 80.10
$80.56 - $83.83  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 80.56
Exercise price, upper range limit (in dollars per share) $ 83.83
Options Outstanding  
Number Outstanding (in shares) | shares 1,645,035
Weighted Average Remaining Contractual Life (in years) 7 years 10 days
Weighted Average Exercise Price (in dollars per share) $ 83.43
Options Exercisable  
Number Exercisable (in shares) | shares 935,300
Weighted Average Exercise Price (in dollars per share) $ 83.47
$84.02 - $90.56  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 84.02
Exercise price, upper range limit (in dollars per share) $ 90.56
Options Outstanding  
Number Outstanding (in shares) | shares 1,707,827
Weighted Average Remaining Contractual Life (in years) 6 years 9 months 10 days
Weighted Average Exercise Price (in dollars per share) $ 87.21
Options Exercisable  
Number Exercisable (in shares) | shares 1,250,194
Weighted Average Exercise Price (in dollars per share) $ 86.90
$90.92 - $95.76  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 90.92
Exercise price, upper range limit (in dollars per share) $ 95.76
Options Outstanding  
Number Outstanding (in shares) | shares 1,541,768
Weighted Average Remaining Contractual Life (in years) 3 years 5 months 4 days
Weighted Average Exercise Price (in dollars per share) $ 94.98
Options Exercisable  
Number Exercisable (in shares) | shares 1,473,044
Weighted Average Exercise Price (in dollars per share) $ 95.10
$97.30 - $113.64  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 97.30
Exercise price, upper range limit (in dollars per share) $ 113.64
Options Outstanding  
Number Outstanding (in shares) | shares 1,845,412
Weighted Average Remaining Contractual Life (in years) 5 years 4 months 20 days
Weighted Average Exercise Price (in dollars per share) $ 108.93
Options Exercisable  
Number Exercisable (in shares) | shares 1,546,094
Weighted Average Exercise Price (in dollars per share) $ 109.56
$115.19 - $134.38  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 115.19
Exercise price, upper range limit (in dollars per share) $ 134.38
Options Outstanding  
Number Outstanding (in shares) | shares 638,135
Weighted Average Remaining Contractual Life (in years) 4 years 2 months 1 day
Weighted Average Exercise Price (in dollars per share) $ 128.75
Options Exercisable  
Number Exercisable (in shares) | shares 638,135
Weighted Average Exercise Price (in dollars per share) $ 128.75
$138.52 - $138.52  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 138.52
Exercise price, upper range limit (in dollars per share) $ 138.52
Options Outstanding  
Number Outstanding (in shares) | shares 21,371
Weighted Average Remaining Contractual Life (in years) 4 years 3 months
Weighted Average Exercise Price (in dollars per share) $ 138.52
Options Exercisable  
Number Exercisable (in shares) | shares 21,371
Weighted Average Exercise Price (in dollars per share) $ 138.52