Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	0.60%	0.80%	0.60%
Foreign income tax rate differential	(0.30%)	(0.30%)	0.20%
U.S. tax on foreign earnings, net of credits	1.90%	0.70%	2.70%
Foreign derived intangible income deduction	(1.40%)	(0.80%)	(0.20%)
Tax credits	(2.20%)	(6.40%)	(1.80%)
Tax rate change	0.00%	(3.50%)	(1.20%)
Stock compensation (benefit), shortfalls and cancellations	(0.80%)	0.00%	(2.30%)
Long-term intercompany receivable write-off	0.00%	0.00%	(1.70%)
Uncertain tax positions	2.70%	2.00%	1.30%
Intra-entity transfer of intellectual property rights	0.00%	0.00%	(6.70%)
Other	0.00%	0.70%	1.10%
Effective tax rate	21.50%	14.20%	13.00%