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Net Income Per Share - Antidilutive securities (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-Based Payment Arrangement        
Anti-dilutive securities        
Outstanding stock options and awards 12,997,146 11,150,022 11,964,901 10,979,096