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Stock Compensation - Option activity under the 2010 stock plan (Details) - Share-based Payment Arrangement, Option
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
Option Activity Shares  
Outstanding at the beginning of the period (in shares) | shares 12,650,359
Options granted (in shares) | shares 521,152
Options exercised (in shares) | shares (207,650)
Options cancelled (in shares) | shares (544,806)
Outstanding at the end of the period (in shares) | shares 12,419,055
Stock Options Weighted Average Price  
Weighted average price of options at the beginning of the period (in USD per share) | $ / shares $ 87.25
Granted (in USD per share) | $ / shares 83.07
Exercised (in USD per share) | $ / shares 67.37
Cancelled (in USD per share) | $ / shares 95.30
Weighted average price of options at the end of the period (in USD per share) | $ / shares $ 87.06