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Stock-Based Compensation - Schedule of Stock Options Outstanding and Exercisable (Details) - Employee Stock Option | 12 Months Ended
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Dec. 31, 2023 $ / shares shares
Number Outstanding (in shares) | shares | 7,224,820
Number Exercisable (in shares) | shares | 6,356,813
$1.87 - 3.21 |
Number Outstanding (in shares) | shares | 729,900
Weighted-Average Remaining Contractual Life (Years) | 2 years 3 months 18 days
Weighted-Average Exercise Price | $ 2.52
Number Exercisable (in shares) | shares | 729,900
Weighted-Average Exercise Price | $ 2.52
Exercise price, lower range | 1.87
Exercise price, upper range | $ 3.21
$3.38 - 4.92 |
Number Outstanding (in shares) | shares | 859,202
Weighted-Average Remaining Contractual Life (Years) | 2 years 1 month 6 days
Weighted-Average Exercise Price | $ 4.35
Number Exercisable (in shares) | shares | 859,202
Weighted-Average Exercise Price | $ 4.35
Exercise price, lower range | 3.38
Exercise price, upper range | $ 4.92
$5.00 - 7.89 |
Number Outstanding (in shares) | shares | 925,116
Weighted-Average Remaining Contractual Life (Years) | 1 year 7 months 6 days
Weighted-Average Exercise Price | $ 5.8
Number Exercisable (in shares) | shares | 925,116
Weighted-Average Exercise Price | $ 5.8
Exercise price, lower range | 5.00
Exercise price, upper range | $ 7.89
$8.17 - 11.88 |
Number Outstanding (in shares) | shares | 721,994
Weighted-Average Remaining Contractual Life (Years) | 4 years 4 months 24 days
Weighted-Average Exercise Price | $ 9.13
Number Exercisable (in shares) | shares | 721,994
Weighted-Average Exercise Price | $ 9.13
Exercise price, lower range | 8.17
Exercise price, upper range | $ 11.88
$12.53 - 15.81 |
Number Outstanding (in shares) | shares | 910,362
Weighted-Average Remaining Contractual Life (Years) | 5 years 3 months 18 days
Weighted-Average Exercise Price | $ 13.32
Number Exercisable (in shares) | shares | 892,984
Weighted-Average Exercise Price | $ 13.33
Exercise price, lower range | 12.53
Exercise price, upper range | $ 15.81
$16.59 - 16.95 |
Number Outstanding (in shares) | shares | 1,162,867
Weighted-Average Remaining Contractual Life (Years) | 6 years 2 months 12 days
Weighted-Average Exercise Price | $ 16.92
Number Exercisable (in shares) | shares | 1,049,018
Weighted-Average Exercise Price | $ 16.93
Exercise price, lower range | 16.59
Exercise price, upper range | $ 16.95
$17.36 - 36.68 |
Number Outstanding (in shares) | shares | 1,319,922
Weighted-Average Remaining Contractual Life (Years) | 5 years 10 months 24 days
Weighted-Average Exercise Price | $ 24.89
Number Exercisable (in shares) | shares | 754,257
Weighted-Average Exercise Price | $ 23.75
Exercise price, lower range | 17.36
Exercise price, upper range | $ 36.68
$41.14 - 72.07 |
Number Outstanding (in shares) | shares | 595,457
Weighted-Average Remaining Contractual Life (Years) | 4 years 10 months 24 days
Weighted-Average Exercise Price | $ 54.70
Number Exercisable (in shares) | shares | 424,342
Weighted-Average Exercise Price | $ 54.49
Exercise price, lower range | 41.14
Exercise price, upper range | $ 72.07

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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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