  We describe a new data sample of IceCube DeepCore and report on the latest
measurement of atmospheric neutrino oscillations obtained with data recorded
between 2011-2019. The sample includes significant improvements in data
calibration, detector simulation, and data processing, and the analysis
benefits from a detailed treatment of systematic uncertainties, with
significantly higher level of detail since our last study. By measuring the
relative fluxes of neutrino flavors as a function of their reconstructed
energies and arrival directions we constrain the atmospheric neutrino mixing
parameters to be $\sin^2\theta_{23} = 0.51\pm 0.05$ and $\Delta m^2_{32} =
2.41\pm0.07\times 10^{-3}\mathrm{eV}^2$, assuming a normal mass ordering. The
resulting 40\% reduction in the error of both parameters with respect to our
previous result makes this the most precise measurement of oscillation
parameters using atmospheric neutrinos. Our results are also compatible and
complementary to those obtained using neutrino beams from accelerators, which
are obtained at lower neutrino energies and are subject to different sources of
uncertainties.
