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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 9 Months Ended
Sep. 30, 2023
Number of Shares  
Balance at the beginning of the period (in shares) 19,064
Options, granted (in shares) 5,522
Options, exercised (in shares) (1,032)
Options, forfeited (in shares) (248)
Options, expired (in shares) (50)
Balance at the end of the period (in shares) 23,256
Vested and unvested expected to vest as of the end of the period (in shares) 21,389
Exercisable at the end of the period (in shares) 13,246
Weighted Average Exercise  Price  
Balance at the beginning of the period (in dollars per share) $ 11.31
Options, granted (in dollars per share) 12.03
Options, exercised (in dollars per share) 7.61
Options, forfeited (in dollars per share) 11.51
Options, expired (in dollars per share) 14.39
Balance at the end of the period (in dollars per share) 11.64
Vested and unvested expected to vest as of the end of the period (in dollars per share) 11.58
Exercisable at the end of the period (in dollars per share) $ 11.12
Weighted Average Remaining Years and Aggregate Intrinsic Value  
Balance at the end of the period 6 years 8 months 12 days
Vested and unvested expected to vest at the end of the period 6 years 6 months
Exercisable at the end of the period 5 years 1 month 6 days
Aggregate intrinsic value, options outstanding $ 32.1
Aggregate intrinsic value, vested and unvested expected to vest 31.1
Aggregate intrinsic value of options exercisable $ 27.9