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Stockholders' Equity - Narrative (Details) - USD ($) $ in Millions |  | 1 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jun. 30, 2016 | Jul. 31, 2016 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jun. 30, 2023 | May 31, 2023
Stock Compensation Plans |  |  |  |  |  |  |
Preferred stock, shares authorized (in shares) |  |  | 5,000,000 | 5,000,000 |  |  |
Preferred stock, shares outstanding (in shares) |  |  | 0 | 0 |  |  |
Common stock, shares authorized (in shares) |  |  | 400,000,000 | 400,000,000 |  |  |
Shares reserved for future issuance related to stock plans (in shares) |  |  | 11,557,443 |  |  |  |
Options exercisable and vested (in shares) |  |  | 9,743,775 | 8,952,289 | 8,024,951 |  |
Intrinsic value of options exercised |  |  | $ 3.2 | $ 6.0 | $ 12.7 |  |
Intrinsic value of options outstanding |  |  | 2.0 |  |  |  |
Intrinsic value of vested options |  |  | 1.9 |  |  |  |
Stock compensation expense |  |  | $ 215.9 | $ 188.4 | $ 183.0 |  |
Number of shares issued (in shares) |  |  | 380,145 | 308,413 | 264,503 |  |
Remaining shares available (in shares) |  |  | 10,815,026 | 5,056,370 |  |  |
Employee Stock |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Shares reserved for future issuance related to stock plans (in shares) |  |  |  |  |  | 10,350,000 | 9,600,000
Stock compensation expense |  |  | $ 5.1 | $ 4.7 | $ 4.6 |  |
Employment period for eligibility to participate in the plan |  |  | 1 month |  |  |  |
Number of shares issued (in shares) |  |  | 380,145 | 308,413 | 264,503 |  |
Remaining shares available (in shares) |  |  | 742,417 |  |  |  |
Minimum | Employee Stock |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Number of employee working hours per week for eligibility to participate in the plan |  |  | 20 hours |  |  |  |
Stock Incentive Plan 2010 |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Shares reserved for future issuance related to stock plans (in shares) |  |  |  |  |  | 66,453,475 | 53,953,475
Options |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Expiration period | 7 years |  |  |  |  |  |
Vesting period | 3 years | 4 years |  |  |  |  |
Options | Share-based Payment Arrangement, Tranche One |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period | 1 year | 1 year |  |  |  |  |
Vesting percentage | 33.00% | 25.00% |  |  |  |  |
Options | Share-based Payment Arrangement, Tranche Two |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period | 24 months | 36 months |  |  |  |  |
Options | Non-employee Director |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Expiration period |  | 10 years |  |  |  |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period |  |  | 4 years |  |  |  |
Vesting percentage |  |  | 25.00% |  |  |  |
Number of shares awarded for each RSU (in shares) |  |  | 1 |  |  |  |
Number of shares available for grant for each award granted (in shares) |  |  | 2 |  |  |  |
Performance Shares |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period |  |  | 4 years |  |  |  |
Stock compensation expense |  |  | $ 17.2 | $ 7.8 | $ 8.3 |  |
Number of shares available for grant for each award granted (in shares) |  |  | 2 |  |  |  |
Performance Shares | Minimum |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period |  |  | 3 years |  |  |  |
Performance Shares | Maximum |  |  |  |  |  |  |
Stock Compensation Plans |  |  |  |  |  |  |
Vesting period |  |  | 4 years |  |  |  |

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