Income Taxes - Reconciliation of Federal Statutory Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Difference between the effective tax rate implicit in the consolidated financial statements and the statutory federal income tax rate
Statutory U.S. federal tax rate	21.00%	21.00%	21.00%
U.S. state income taxes, net of U.S. federal income tax effect	7.80%	7.40%	7.20%
Tax credits and benefits, net of related expenses	(8.90%)	(11.30%)	(12.40%)
Other, net	0.20%	0.30%	1.40%
Effective tax rate	20.10%	17.40%	17.20%