Annual report pursuant to Section 13 and 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
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Stock based compensation expense $ 160 $ 156 $ 220
Research and development      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Stock based compensation expense 139 137 207
Selling, general, and administrative      
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]      
Stock based compensation expense $ 21 $ 19 $ 13