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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