Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans - Schedule of Stock-based Compensation Expense (Details)

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Equity Incentive Plans - Schedule of Stock-based Compensation Expense (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Stock based compensation expense $ 36 $ 39
Research and development    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Stock based compensation expense 31 34
Selling, general, and administrative    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Stock based compensation expense $ 5 $ 5