Income Taxes, Tax Reconciliation and Tax Cuts and Jobs Act (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective tax rate reconciliation [Abstract]
Taxes at statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	1.10%	1.70%	3.00%
Tax credits	(1.90%)	(1.30%)	(1.40%)
Taxes on foreign earnings	4.80%	2.90%	4.70%
Global Intangible Low-Taxed Income	0.60%	0.40%	0.70%
Foreign Derived Intangible Income	(1.30%)	(1.00%)	(0.90%)
Loss on balance sheet hedge	0.00%	0.00%	0.70%
Resolution of prior years' tax matters	0.30%	(0.10%)	(0.40%)
Valuation allowance adjustments	2.80%	(2.70%)	(2.90%)
Nondeductible compensation	1.20%	1.90%	1.10%
Other, net	(0.50%)	(0.10%)	(1.00%)
Effective tax rate	28.10%	22.70%	24.60%
Valuation Allowance [Abstract]
Valuation allowance	$ (34,122)	$ (28,073)