The
All-time Bitcoin Price Chart looks like the best I've seen so far, as well.
I think the only way to get a complete chart is the way they did; by pulling data for different time ranges from different sources. This is since there's no exchange that operated since 2009 until today, of course. It's also worth noting that depending on which exchange you query, the exact numbers can differ.
For a rough timeline and historical milestones in the Bitcoin price, I like to reference
Bitcoin Wiki as well!