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Income Taxes (Details)
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Reconciliation between the U.S. federal statutory tax rate and effective tax rate    
Statutory rate 21.00% 21.00%
State taxes 0.60% 0.40%
Taxes on foreign earnings (4.10%) (4.60%)
Credits and net operating loss utilization (1.00%) (0.80%)
Purchased intangible assets 0.20% 0.30%
Denmark assets held for sale 0.00% 4.30%
GILTI 0.60% 1.90%
Permanent items 0.20% 0.40%
Other (0.30%) (0.20%)
Effective tax rate 17.20% 22.70%