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Equity Incentive Plan - Schedule of Options Exercisable, Vested or Expected to Vest (Details) - $ / shares
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Equity [Abstract]      
Options exercisable at end of year 12,243,887 10,237,202 7,436,379
Options vested or expected to vest 18,416,243 18,179,553 15,962,432
Options exercisable at end of year, weighted average exercise price $ 19.13 $ 18.74 $ 17.02
Options vested or expected to vest, weighted average exercise price $ 18.77 $ 19.58 $ 20.31