Income Taxes - Differences Between U.S. Federal Statutory Income Tax Rate and Effective Tax Rate on Income Before Income Taxes (Details)	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory tax rate	21.00%	21.00%	21.00%
State income taxes, net of federal benefit	2.10%	2.40%	2.80%
Effect of non-U.S. operations	(0.40%)	(2.00%)	(3.40%)
Intercompany sale of intellectual property	0.00%	0.00%	(5.60%)
Net activity in unrecognized tax benefits	1.30%	(1.10%)	1.30%
Law changes	0.00%	0.00%	1.30%
Stock-based compensation expense	(3.10%)	(2.00%)	(2.00%)
Limitation on executive compensation	2.30%	1.40%	1.70%
Global intangible low-taxed income, net of foreign tax credits	1.20%	1.90%	1.70%
Foreign-derived intangible income	(0.30%)	(0.40%)	(0.30%)
Change in the valuation allowance	(1.20%)	0.30%	0.40%
Other items, net	0.20%	(0.10%)	(0.70%)
Effective tax rate	23.10%	21.40%	18.20%

Effective Income Tax Rate Reconciliation, Changes in Tax Laws, Percent

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Effective Income Tax Rate Reconciliation, Intercompany Sale Of Intellectual Property, Percent

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Effective Income Tax Rate Reconciliation, Limitation Of Executive Compensation, Percent

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-12

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 235
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
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-Topic 740
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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Percentage of reported income tax benefit from difference to income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to foreign-derived intangible income (FDII).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

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Percentage of reported income tax expense from difference to expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to global intangible low-taxed income (GILTI).

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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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