Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	0.80%	0.60%	0.60%
Foreign income tax rate differential	(0.30%)	0.20%	0.40%
Tax credits	(6.40%)	(1.80%)	(4.30%)
Tax rate change	(3.50%)	(1.20%)	0.00%
Stock compensation (benefit), shortfalls and cancellations	0.00%	(2.30%)	(4.00%)
Long-term intercompany receivable write-off	0.00%	(1.70%)	0.00%
Uncertain tax positions	2.00%	1.30%	1.00%
Inter-entity transfer of intellectual property rights	0.00%	(6.70%)	0.00%
U.S. tax on foreign earnings, net of credits	0.70%	2.70%	0.00%
Other	(0.10%)	0.90%	0.90%
Effective tax rate	14.20%	13.00%	15.60%