Income Taxes (Details 3)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Statutory federal tax rate	21.00%	21.00%	21.00%
State taxes	1.80%	2.60%	2.50%
Foreign rate differential	2.10%	2.70%	(0.20%)
Foreign, federal and state income tax credits	(2.80%)	(3.30%)	(1.50%)
Effective Income Tax Rate Reconciliation, Deduction, Percent	5.90%	3.10%	2.30%
Effective Income Tax Rate Reconciliation, Tax Settlement, Foreign, Percent	0.00%	0.00%	(10.80%)
Effective Income Tax Rate Reconciliation, Tax Contingency, Domestic, Percent	(1.70%)	(2.10%)	(0.80%)
Effective Income Tax Rate Reconciliation, Change in Enacted Tax Rate, Percent	0.00%	0.00%	(2.60%)
Effective Income Tax Rate Reconciliation,Other Reconciling Items, Percent	0.00%	1.00%	0.00%
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Percent	0.00%	2.30%	(0.80%)
Effective Income Tax Rate Reconciliation, Tax Settlement, Domestic, Percent	0.00%	6.70%	0.00%
Other	(0.90%)	(4.90%)	(1.10%)
Effective tax rate	25.40%	29.10%	8.00%