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Share-Based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding [Roll Forward]  
Balance at beginning of year (shares) | shares 4,532,252
Granted (shares) | shares 1,690,707
Exercised (shares) | shares (272,434)
Canceled (shares) | shares (412,734)
Balance at end of year (shares) | shares 5,537,791
Options exercisable at end of year (shares) | shares 3,187,936
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price [Abstract]  
Balance at beginning of year (USD per share) | $ / shares $ 85.38
Granted (USD per share) | $ / shares 94.43
Exercised (USD per share) | $ / shares 36.43
Canceled (USD per share) | $ / shares 132.27
Balance at end of year (USD per share) | $ / shares 87.05
Options exercisable at end of year (USD per share) | $ / shares $ 68.49
Options outstanding, Weighted-Average Remaining Contractual Term (years) 6 years 8 months 12 days
Options exercisable, Weighted-Average Remaining Contractual Term (years) 5 years 1 month 6 days
Options outstanding, Aggregate Intrinsic Value | $ $ 33.0
Options exercisable, Aggregate Intrinsic Value | $ $ 32.4