Taxes on Earnings from Continuing Operations - Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Differences between the effective income tax rate and the U.S. statutory tax rate:
Statutory tax rate on earnings from continuing operations (as a percent)	21.00%	21.00%	21.00%
Impact of foreign operations (as a percent)	(3.30%)	(5.00%)	(5.40%)
Impact of TCJA and other related items (as a percent)	0.50%	(2.10%)	6.30%
Foreign-derived intangible income benefit (as a percent)	(1.00%)	(2.00%)	(1.90%)
Domestic impairment loss (as a percent)	(2.70%)		(2.10%)
Excess tax benefits related to stock compensation (as a percent)	(1.90%)	(2.50%)	(3.10%)
Research tax credit (as a percent)	(1.00%)	(1.20%)	(1.80%)
Resolution of certain tax positions pertaining to prior years (as a percent)	(2.80%)		3.40%
Intercompany restructurings and integration	0.50%
State taxes, net of federal benefit (as a percent)	0.50%	0.80%	0.40%
All other, net (as a percent)	0.20%	0.60%	2.00%
Effective tax rate on earnings from continuing operations (as a percent)	10.00%	9.60%	18.80%