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Taxes - Tax Rate Reconciliation (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Reconciliation of the statutory U.S. federal tax rate to the company's effective tax rate from continuing operations      
Statutory rate 21.00% 21.00% 21.00%
Enactment of U.S. tax reform   1.00% 18.00%
Tax differential on foreign income (15.00%) (11.00%) (9.00%)
Intra-entity IP sale (20.00%)    
Domestic incentives (4.00%) (2.00%) (3.00%)
State and local 0.00% (1.00%) (1.00%)
Other (1.00%) (1.00%) (3.00%)
Effective rate (18.60%) 7.20% 23.00%