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Income Taxes - Reconciliation of Effective Tax Rate (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]      
U.S. federal taxes at statutory rate 21.00% 21.00% 21.00%
State taxes, net of federal benefit 26.40% 2.40% 6.20%
Foreign income tax rate differential 10.10% (4.10%) 16.00%
Impact of disposition of foreign subsidiaries 0.00% 6.10% 0.00%
Non-deductible expenses 0.00% 0.00% (12.70%)
Net impact of GILTI 0.00% 0.00% (38.90%)
Foreign derived intangible income deduction (12.40%) 0.20% 0.00%
Non-deductible executive compensation 26.30% 0.00% 0.00%
Permanent differences 7.00% 0.00% 0.00%
Deferred statutory rate changes (0.70%) (2.90%) (1.70%)
Stock compensation 3.50% (1.40%) 93.80%
Foreign research and development incentive (7.70%) 1.70% 24.10%
Tax attribute expiration 37.40% (2.80%) 0.00%
Change in valuation allowance (28.70%) (21.00%) (110.10%)
Other, net (2.60%) (2.00%) (6.60%)
Effective tax rate 79.60% (2.80%) (8.90%)