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Income Taxes - Reconciliation of U.S. Federal Statutory Tax Rate to Consolidated Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
State income taxes, net of federal benefit 1.60% 1.50% 1.50%
Foreign rate differential 0.40% 0.80% 0.80%
Uncertain tax positions 0.10% (0.20%) 0.50%
Valuation allowance release (0.80%) (1.30%) 0.00%
Benefit from entity structuring activities (1.50%) 0.00% (1.40%)
Foreign-derived intangible income deduction (2.80%) (3.80%) (3.90%)
Research and development credits (3.20%) (2.20%) (2.30%)
Stock-based compensation (3.60%) (3.10%) (3.30%)
Other 1.00% 0.90% 1.00%
Consolidated effective tax rate 12.20% 13.60% 13.90%