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Stock based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Balance at the beginning of the period (in shares) 19,064 14,731 14,032
Options, Granted (in shares) 5,733 5,733 3,262
Options, Exercised (in shares) (1,361) (660) (1,483)
Options, Forfeited (in shares) (356) (495) (844)
Options, Expired (in shares) (78) (245) (236)
Balance at the end of the period (in shares) 23,002 19,064 14,731
Vested and unvested expected to vest as of the end of the period (in shares) 21,215    
Exercisable at the end of the period (in shares) 13,431    
Weighted Average Exercise Price      
Balance at the beginning of the period (in dollars per share) $ 11.31 $ 11.08 $ 9.54
Options, Granted (in dollars per share) 11.99 11.53 16.53
Options, Exercised (in dollars per share) 7.54 6.58 7.05
Options, Forfeited (in dollars per share) 11.59 12.57 12.97
Options, Expired (in dollars per share) 15.09 12.84 13.28
Balance at the end of the period (in dollars per share) 11.69 $ 11.31 $ 11.08
Vested and unvested expected to vest as of the end of the period (in dollars per share) 11.64    
Exercisable at the end of the period (in dollars per share) $ 11.26    
Weighted Average Remaining Years and Aggregate Intrinsic Value      
Balance at the end of the period 6 years 6 months    
Vested and unvested expected to vest at the end of the period 6 years 3 months 18 days    
Exercisable at the end of the period 5 years    
Aggregate intrinsic value of options outstanding $ 70.8    
Aggregate intrinsic value of options vested and unvested expected to vest 66.5    
Aggregate intrinsic value of options exercisable $ 49.0