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Stock-Based Compensation and Employee Benefits - Options outstanding and exercisable (Details) - 2016 plan and 2014 plan - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Options outstanding, Number of Options 23,659,240 21,691,321
Options outstanding, Weighted-Average Remaining Contractual Terms 5 years 8 months 12 days  
Options outstanding, Weighted-Average Exercise Price $ 13.31 $ 15.00
Number of Options, Exercisable 16,279,679  
Weighted Average Exercise Price, Exercisable $ 15.20  
1.67 - 5.44    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 1.67  
Exercise price range, Upper $ 5.44  
Options outstanding, Number of Options 4,288,840  
Options outstanding, Weighted-Average Remaining Contractual Terms 6 years 10 months 24 days  
Options outstanding, Weighted-Average Exercise Price $ 3.92  
Number of Options, Exercisable 1,356,589  
Weighted Average Exercise Price, Exercisable $ 2.32  
5.86 - 10.05    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 5.86  
Exercise price range, Upper $ 10.05  
Options outstanding, Number of Options 4,493,996  
Options outstanding, Weighted-Average Remaining Contractual Terms 6 years 6 months  
Options outstanding, Weighted-Average Exercise Price $ 9.20  
Number of Options, Exercisable 2,436,570  
Weighted Average Exercise Price, Exercisable $ 9.45  
10.37 - 13.63    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 10.37  
Exercise price range, Upper $ 13.63  
Options outstanding, Number of Options 4,143,765  
Options outstanding, Weighted-Average Remaining Contractual Terms 5 years 7 months 6 days  
Options outstanding, Weighted-Average Exercise Price $ 12.41  
Number of Options, Exercisable 3,317,635  
Weighted Average Exercise Price, Exercisable $ 12.53  
14.03 - 17.17    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 14.03  
Exercise price range, Upper $ 17.17  
Options outstanding, Number of Options 4,436,113  
Options outstanding, Weighted-Average Remaining Contractual Terms 5 years 9 months 18 days  
Options outstanding, Weighted-Average Exercise Price $ 15.82  
Number of Options, Exercisable 3,304,217  
Weighted Average Exercise Price, Exercisable $ 15.86  
17.30 - 19.40    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 17.30  
Exercise price range, Upper $ 19.40  
Options outstanding, Number of Options 3,827,172  
Options outstanding, Weighted-Average Remaining Contractual Terms 5 years 6 months  
Options outstanding, Weighted-Average Exercise Price $ 17.96  
Number of Options, Exercisable 3,403,068  
Weighted Average Exercise Price, Exercisable $ 17.95  
19.85 - 46.38    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Exercise price range, Lower 19.85  
Exercise price range, Upper $ 46.38  
Options outstanding, Number of Options 2,469,354  
Options outstanding, Weighted-Average Remaining Contractual Terms 2 years 1 month 6 days  
Options outstanding, Weighted-Average Exercise Price $ 26.90  
Number of Options, Exercisable 2,461,600  
Weighted Average Exercise Price, Exercisable $ 26.91