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Stock Compensation - RSU award and PSU activity under the 2010 stock plan (Details)
 6 Months Ended
Jun. 30, 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 5,704,335
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 $ 80.77
Restricted Stock Units (RSUs)  
RSU and PSU Activity Shares  
Granted (in shares) | shares 829,206
Released (in shares) | shares (186,167)
Cancelled (in shares) | shares (125,325)
RSU and PSU Grant Price  
Granted (in USD per share) | $ / shares $ 77.15
Released (in USD per share) | $ / shares 77.96
Cancelled (in USD per share) | $ / shares $ 80.67
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