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Stockholders' Equity - Stock Option Activity (Details) - Stock Options - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]    
Beginning of period (in shares) 6,443  
Granted (in shares) 1,324  
Exercised (in shares) (1,346)  
Cancelled/forfeited (in shares) (309)  
End of period (in shares) 6,112 6,443
Vested and exercisable at end of period (in shares) 3,861  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]    
Beginning of period, weighted average exercise price (in dollars per share) $ 8.84  
Granted, weighted average exercise price (in dollars per share) 10.70  
Exercised, weighted average exercise price (in dollars per share) 5.93  
Cancelled/forfeited, weighted average exercise price (in dollars per share) 10.38  
End of period, weighted average exercise price (in dollars per share) 9.81 $ 8.84
Vested and exercisable at end of period, weighted average exercise price (in dollars per share) $ 8.03  
Weighted average contractual life, shares outstanding 6 years 8 months 12 days 6 years 6 months
Weighted average contractual life, shares vested and exercisable 5 years 7 months 6 days  
Aggregate intrinsic value, shares outstanding $ 11.9 $ 45.3
Aggregate intrinsic value, shares vested and exercisable $ 11.2