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Stockholders' Equity - Stock options outstanding (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Options Outstanding  
Number Outstanding (in shares) | shares 12,457,158
Options Exercisable  
Number Exercisable (in shares) | shares 9,743,775
$49.01 - $68.62  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) $ 49.01
Exercise price, upper range limit (in dollars per share) $ 68.62
Options Outstanding  
Number Outstanding (in shares) | shares 1,752,776
Weighted Average Remaining Contractual Life (in years) 6 years 11 months 8 days
Weighted Average Exercise Price (in dollars per share) $ 64.26
Options Exercisable  
Number Exercisable (in shares) | shares 904,749
Weighted Average Exercise Price (in dollars per share) $ 67.01
$68.70 - $72.27  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 68.70
Exercise price, upper range limit (in dollars per share) $ 72.27
Options Outstanding  
Number Outstanding (in shares) | shares 1,279,346
Weighted Average Remaining Contractual Life (in years) 5 years 3 months
Weighted Average Exercise Price (in dollars per share) $ 71.94
Options Exercisable  
Number Exercisable (in shares) | shares 1,207,361
Weighted Average Exercise Price (in dollars per share) $ 72.08
$72.66 - $76.95  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 72.66
Exercise price, upper range limit (in dollars per share) $ 76.95
Options Outstanding  
Number Outstanding (in shares) | shares 1,271,472
Weighted Average Remaining Contractual Life (in years) 7 years 3 months 7 days
Weighted Average Exercise Price (in dollars per share) $ 74.75
Options Exercisable  
Number Exercisable (in shares) | shares 789,924
Weighted Average Exercise Price (in dollars per share) $ 74.69
$77.03 - $80.50  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 77.03
Exercise price, upper range limit (in dollars per share) $ 80.50
Options Outstanding  
Number Outstanding (in shares) | shares 1,310,294
Weighted Average Remaining Contractual Life (in years) 6 years 8 months 8 days
Weighted Average Exercise Price (in dollars per share) $ 79.18
Options Exercisable  
Number Exercisable (in shares) | shares 945,947
Weighted Average Exercise Price (in dollars per share) $ 79.64
$80.56 - $83.58  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 80.56
Exercise price, upper range limit (in dollars per share) $ 83.58
Options Outstanding  
Number Outstanding (in shares) | shares 1,502,140
Weighted Average Remaining Contractual Life (in years) 7 years 7 months 17 days
Weighted Average Exercise Price (in dollars per share) $ 83.26
Options Exercisable  
Number Exercisable (in shares) | shares 873,400
Weighted Average Exercise Price (in dollars per share) $ 83.23
$83.83 - $85.52  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 83.83
Exercise price, upper range limit (in dollars per share) $ 85.52
Options Outstanding  
Number Outstanding (in shares) | shares 1,269,328
Weighted Average Remaining Contractual Life (in years) 4 years 4 months 9 days
Weighted Average Exercise Price (in dollars per share) $ 84.61
Options Exercisable  
Number Exercisable (in shares) | shares 1,222,325
Weighted Average Exercise Price (in dollars per share) $ 84.60
$85.60 - $94.63  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 85.60
Exercise price, upper range limit (in dollars per share) $ 94.63
Options Outstanding  
Number Outstanding (in shares) | shares 1,269,423
Weighted Average Remaining Contractual Life (in years) 5 years 9 months 25 days
Weighted Average Exercise Price (in dollars per share) $ 91.66
Options Exercisable  
Number Exercisable (in shares) | shares 1,097,345
Weighted Average Exercise Price (in dollars per share) $ 92.06
$95.34 - $106.47  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 95.34
Exercise price, upper range limit (in dollars per share) $ 106.47
Options Outstanding  
Number Outstanding (in shares) | shares 1,326,730
Weighted Average Remaining Contractual Life (in years) 5 years 10 days
Weighted Average Exercise Price (in dollars per share) $ 101.65
Options Exercisable  
Number Exercisable (in shares) | shares 1,227,075
Weighted Average Exercise Price (in dollars per share) $ 101.33
$107.69 - $128.34  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 107.69
Exercise price, upper range limit (in dollars per share) $ 128.34
Options Outstanding  
Number Outstanding (in shares) | shares 1,332,485
Weighted Average Remaining Contractual Life (in years) 2 years 11 months 23 days
Weighted Average Exercise Price (in dollars per share) $ 118.11
Options Exercisable  
Number Exercisable (in shares) | shares 1,332,485
Weighted Average Exercise Price (in dollars per share) $ 118.11
$132.00 - $138.52  
Stock options outstanding  
Exercise price, lower range limit (in dollars per share) 132.00
Exercise price, upper range limit (in dollars per share) $ 138.52
Options Outstanding  
Number Outstanding (in shares) | shares 143,164
Weighted Average Remaining Contractual Life (in years) 2 years 9 months 29 days
Weighted Average Exercise Price (in dollars per share) $ 134.76
Options Exercisable  
Number Exercisable (in shares) | shares 143,164
Weighted Average Exercise Price (in dollars per share) $ 134.76