Income Taxes - Difference of Income Taxes from Statutory Federal Income Tax Rates (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Federal U.S. income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal tax benefit	4.70%	4.50%	4.90%
Permanent book/tax differences	0.30%	(0.40%)	0.30%
Compensation book/tax differences	0.70%	0.70%	1.30%
Non-U.S. income taxed at different rates, net of foreign tax credits	1.70%	1.90%	1.70%
Federal tax credits	(1.00%)	(1.60%)	(1.50%)
Tax impact of uncertain tax positions	0.10%	0.30%	0.10%
Other, net	(0.90%)	(0.90%)	(0.40%)
Effective tax rate	26.60%	25.50%	27.40%