Should I negotiate my job offer?

I just received a job offer that reflects the highest salary I mentioned at the start of the interview process. However, after gaining more insight into the role’s responsibilities, I feel that I may have undervalued myself by approximately 10%. Since the salary range wasn’t listed in the job posting, I can’t directly reference it for comparison. Do you think it’s worth trying to negotiate? If so, what would be the best way to initiate this conversation or follow up via email?