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Stock Compensation - RSU award and PSU activity under the 2010 stock plan (Details)
 3 Months Ended
Mar. 31, 2023
$ / shares
shares
RSU and PSU Activity Shares  
Outstanding at the beginning of the period (in shares) | shares 5,187,592
Outstanding at the end of the period (in shares) | shares 5,550,448
RSU and PSU Grant Price  
Grant date value of shares outstanding at the beginning of the period (in USD per share) | $ / shares $ 81.24
Grant date value of shares at the end of the period (in USD per share) | $ / shares $ 81.52
Restricted Stock Units (RSUs)  
RSU and PSU Activity Shares  
Granted (in shares) | shares 577,956
Released (in shares) | shares (140,791)
Cancelled (in shares) | shares (73,338)
RSU and PSU Grant Price  
Granted (in USD per share) | $ / shares $ 83.12
Released (in USD per share) | $ / shares 78.04
Cancelled (in USD per share) | $ / shares $ 81.34
Performance Shares  
RSU and PSU Activity Shares  
Cancelled (in shares) | shares (971)
RSU and PSU Grant Price  
Cancelled (in USD per share) | $ / shares $ 106.47