Income Taxes - Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory income tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	2.20%	2.40%	2.50%
Foreign income taxes	0.40%	(0.20%)	(0.50%)
Federal R&D Credit	(0.70%)	(0.80%)	(1.40%)
Other, net	(0.80%)	(1.10%)	(2.40%)
CONSOLIDATED EFFECTIVE INCOME TAX RATE	22.10%	21.30%	19.20%