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Stock-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, shares in Thousands, $ in Millions
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Number of Shares  
Balance at the beginning of the period (in shares) | shares 23,002
Options, granted (in shares) | shares 4,033
Options, exercised (in shares) | shares (439)
Options, forfeited (in shares) | shares (271)
Options, expired (in shares) | shares (20)
Balance at the end of the period (in shares) | shares 26,305
Vested and unvested expected to vest as of the end of the period (in shares) | shares 24,409
Exercisable at the end of the period (in shares) | shares 15,979
Weighted Average Exercise  Price  
Balance at the beginning of the period (in dollars per share) | $ / shares $ 11.69
Options, granted (in dollars per share) | $ / shares 14.23
Options, exercised (in dollars per share) | $ / shares 7.86
Options, forfeited (in dollars per share) | $ / shares 12.56
Options, expired (in dollars per share) | $ / shares 17.28
Balance at the end of the period (in dollars per share) | $ / shares 12.13
Vested and unvested expected to vest as of the end of the period (in dollars per share) | $ / shares 12.08
Exercisable at the end of the period (in dollars per share) | $ / shares $ 11.60
Weighted Average Remaining Years and Aggregate Intrinsic Value  
Balance at the end of the period 6 years 4 months 24 days
Vested and unvested expected to vest at the end of the period 6 years 2 months 12 days
Exercisable at the end of the period 4 years 10 months 24 days
Aggregate intrinsic value, options outstanding | $ $ 23.9
Aggregate intrinsic value, vested and unvested expected to vest | $ 23.5
Aggregate intrinsic value of options exercisable | $ $ 22.3