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Stock-Based Compensation - Schedule of Stock Options Outstanding and Exercisable (Details) - Employee Stock Option	12 Months Ended
	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.

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