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Stock Compensation - Option activity under the 2010 stock plan (Details) - Share-based Payment Arrangement, Option
 6 Months Ended
Jun. 30, 2023
$ / shares
shares
Option Activity Shares  
Outstanding at the beginning of the period (in shares) | shares 12,650,359
Options granted (in shares) | shares 702,470
Options exercised (in shares) | shares (231,417)
Options cancelled (in shares) | shares (755,507)
Outstanding at the end of the period (in shares) | shares 12,365,905
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 78.53
Exercised (in USD per share) | $ / shares 67.05
Cancelled (in USD per share) | $ / shares 94.07
Weighted average price of options at the end of the period (in USD per share) | $ / shares $ 86.72