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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, 2021
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
Nondeductible expenses 2.80% 0.70% 0.50%
State income taxes, net of federal benefit 0.60% 1.60% 1.50%
Foreign rate differential 0.60% 0.40% 0.80%
Valuation allowance release 0.00% (0.80%) (1.30%)
Benefit from tax planning and entity structuring activities (1.30%) (1.50%) 0.00%
Research and development credits (3.10%) (3.20%) (2.20%)
Foreign-derived intangible income deduction (4.00%) (2.80%) (3.80%)
Stock-based compensation (5.40%) (3.60%) (3.10%)
Other 0.60% 0.40% 0.20%
Consolidated effective tax rate 11.80% 12.20% 13.60%