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Stock Plans (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Summary stock options activity    
Number of Shares, Exercisable   1,466,983
Employee Stock Option    
Summary stock options activity    
Number of Shares, Outstanding balance 4,703,405  
Number of Shares, Granted 595,777  
Number of Shares, Exercised (152,209)  
Number of Shares, Forfeited/Canceled (27,981)  
Number of Shares, Expired  
Number of Shares, Outstanding balance 5,118,992 4,703,405
Number of Shares, Exercisable 2,211,566  
Number of Shares, Vested and expected to vest 4,170,033  
Weighted Average Exercise Price, Outstanding balance $ 103.51  
Weighted Average Exercise Price, Granted 91.66  
Weighted Average Exercise Price, Exercised 90.92  
Weighted Average Exercise Price, Forfeited/Canceled 116.58  
Weighted Average Exercise Price, Expired  
Weighted Average Exercise Price, Outstanding balance 103.66 $ 103.51
Weighted Average Exercise Price, Exercisable 103.03  
Weighted Average Exercise Price, Vested and expected to vest $ 99.9  
Weighted Average Remaining Contractual Term (years), Outstanding balance 6 years 7 months 6 days  
Weighted Average Remaining Contractual Term (years), Exercisable 4 years 10 months 24 days  
Weighted Average Remaining Contractual Term (years), Vested and expected to vest 6 years 4 months 24 days  
Aggregate Intrinsic Value (thousands), Outstanding balance $ 39.5  
Aggregate Intrinsic Value (thousands), Exercisable 24.6  
Aggregate Intrinsic Value (thousands), Vested and expected to vest $ 33.6