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Stockholders' Equity - Shares available for grant (Details)
12 Months Ended
Dec. 31, 2023
shares
Shares Available for Grant  
Outstanding at the beginning of the period (in shares) 5,056,370
Additional authorization (in shares) 12,500,000
Options, RSUs and PSUs granted (in shares) (9,196,930)
Options, RSUs and PSUs cancelled (in shares) 2,455,586
Outstanding at the end of the period (in shares) 10,815,026