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Income Taxes - Reconciliation from U.S. Federal Statutory Tax Rate to Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Effective Income Tax Rate Continuing Operations Tax Rate Reconciliation [Abstract]      
Federal statutory tax rate 21.00% 21.00% 21.00%
State and local income taxes, net of U.S. federal income tax benefit 5.70% 6.80% 5.90%
Non-deductible expenses 0.70% 1.00% 0.50%
Adjustment of uncertain tax positions and interest 0.70% 0.40% 0.40%
Foreign tax rate differential 0.50% 0.20% 0.00%
Changes in valuation allowances 0.20% 1.20% (1.50%)
Tax impact of loss on sale of a business (3.60%) 0.00% 0.00%
Credits and incentives (2.30%) (1.40%) (0.50%)
Provision to return (2.00%) (1.90%) 0.10%
Foreign-derived intangible income (1.60%) (1.20%) (0.60%)
Global intangible low-taxed income provision 0.00% 0.00% 0.80%
Other 0.10% 0.30% 0.10%
Effective income tax rate 19.40% 26.40% 26.20%