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Stockholders' Equity - Option activity (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Shares  
Outstanding at the beginning of the period (in shares) | shares 12,650,359
Options granted (in shares) | shares 1,443,064
Options exercised (in shares) | shares (231,417)
Options cancelled (in shares) | shares (1,404,848)
Outstanding at the end of the period (in shares) | shares 12,457,158
Grant Date Value  
Outstanding at the beginning of the period (in dollars per share) | $ / shares $ 87.25
Options granted (in dollars per share) | $ / shares 69.60
Options exercised (in dollars per share) | $ / shares 67.05
Options cancelled (in dollars per share) | $ / shares 88.87
Outstanding at the end of the period (in dollars per share) | $ / shares $ 85.40