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Equity Incentive Plans and Stock-Based Compensation (Details 4) - Nonvested equity stock and stock units - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Nonvested equity stock and stock units      
Nonvested at the beginning of the period (in shares) 4,718,385 4,851,265 5,289,483
Granted (in shares) 2,338,255 2,363,885 1,986,117
Vested (in shares) (1,853,260) (1,524,950) (1,693,659)
Forfeited (in shares) (485,320) (971,815) (730,676)
Nonvested at the end of the period (in shares) 4,718,060 4,718,385 4,851,265
Weighted-average grant-date fair value      
Nonvested at the beginning of the period (in dollars per share) $ 16.62 $ 12.82 $ 11.27
Granted (in dollars per share) 28.10 21.18 15.60
Vested (in dollars per share) 14.42 12.41 11.70
Forfeited (in dollars per share) 20.48 15.30 11.83
Nonvested at the end of the period (in dollars per share) $ 22.78 $ 16.62 $ 12.82