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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Millions
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Number of Shares  
Balance at the beginning of the period (in shares) | shares 19,064
Options, granted (in shares) | shares 4,854
Options, exercised (in shares) | shares (384)
Options, forfeited (in shares) | shares (81)
Options, expired (in shares) | shares (16)
Balance at the end of the period (in shares) | shares 23,437
Vested and unvested expected to vest as of the end of the period (in shares) | shares 21,395
Exercisable at the end of the period (in shares) | shares 12,395
Weighted Average Exercise  Price  
Balance at the beginning of the period (in dollars per share) | $ / shares $ 11.31
Options, granted (in dollars per share) | $ / shares 11.94
Options, exercised (in dollars per share) | $ / shares 6.91
Options, forfeited (in dollars per share) | $ / shares 10.97
Options, expired (in dollars per share) | $ / shares 15.51
Balance at the end of the period (in dollars per share) | $ / shares 11.51
Vested and unvested expected to vest as of the end of the period (in dollars per share) | $ / shares 11.45
Exercisable at the end of the period (in dollars per share) | $ / shares $ 10.94
Additional Disclosures  
Balance at the end of the period 7 years
Vested and unvested expected to vest at the end of the period 6 years 10 months 24 days
Exercisable at the end of the period 5 years 3 months 18 days
Aggregate intrinsic value, options outstanding | $ $ 22.8
Aggregate intrinsic value, vested and unvested expected to vest | $ 22.1
Aggregate intrinsic value of options exercisable | $ $ 19.4