Stock-Based Compensation - Range of Exercise Prices and Intrinsic Value Related to Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2023 $ / shares shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Options outstanding, number outstanding (in shares) | shares	4,131,549
Options outstanding, weighted average remaining contractual life	4 years 10 months 24 days
Options outstanding, weighted average exercise price per share (in dollars per share)	$ 35.52
Options exercisable, number exercisable (in shares) | shares	3,514,925
Options exercisable, weighted average remaining contractual life	4 years 4 months 24 days
Options exercisable, weighted average exercise price per share (In dollars per share)	$ 37.56
$8.81 - $35.76
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of Exercise Prices, low end of range (in dollars per share)	8.81
Range of Exercise Prices, high end of range (in dollars per share)	$ 35.76
Options outstanding, number outstanding (in shares) | shares	2,411,890
Options outstanding, weighted average remaining contractual life	6 years 9 months 18 days
Options outstanding, weighted average exercise price per share (in dollars per share)	$ 20.05
Options exercisable, number exercisable (in shares) | shares	1,795,266
Options exercisable, weighted average remaining contractual life	6 years 4 months 24 days
Options exercisable, weighted average exercise price per share (In dollars per share)	$ 18.71
$46.07 - $62.50
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of Exercise Prices, low end of range (in dollars per share)	46.07
Range of Exercise Prices, high end of range (in dollars per share)	$ 62.50
Options outstanding, number outstanding (in shares) | shares	1,531,586
Options outstanding, weighted average remaining contractual life	2 years 7 months 6 days
Options outstanding, weighted average exercise price per share (in dollars per share)	$ 54.53
Options exercisable, number exercisable (in shares) | shares	1,531,586
Options exercisable, weighted average remaining contractual life	2 years 7 months 6 days
Options exercisable, weighted average exercise price per share (In dollars per share)	$ 54.53
$70.76 - $79.19
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range
Range of Exercise Prices, low end of range (in dollars per share)	70.76
Range of Exercise Prices, high end of range (in dollars per share)	$ 79.19
Options outstanding, number outstanding (in shares) | shares	188,073
Options outstanding, weighted average remaining contractual life	1 month 6 days
Options outstanding, weighted average exercise price per share (in dollars per share)	$ 79.19
Options exercisable, number exercisable (in shares) | shares	188,073
Options exercisable, weighted average remaining contractual life	1 month 6 days
Options exercisable, weighted average exercise price per share (In dollars per share)	$ 79.19