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Income Taxes - Effective Income Tax Rate Reconciliation (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Income Tax Disclosure [Abstract]        
U.S. federal statutory income tax (benefit) rate 21.00% 21.00% 21.00% 21.00%
U.S. state income taxes (benefit), net of federal income tax effect (1.00%) 1.00% 7.00% 1.00%
Foreign tax rate differences and financing structure 10.00% 0.00% (3.00%) 1.00%
U.S. taxes on foreign earnings 3.00% 1.00% (2.00%) 1.00%
Research and development and other tax credits (10.00%) (5.00%) 7.00% (6.00%)
Excess tax benefits from stock compensation 0.00% 0.00% (1.00%) 0.00%
Uncertain income tax positions (8.00%) (7.00%) 2.00% (3.00%)
Valuation allowances 1.00% 0.00% (14.00%) 0.00%
Other differences - net 7.00% 0.00% (2.00%) 1.00%
Effective income tax (benefit) rate 23.00% 11.00% 15.00% 16.00%