Income Taxes - Reconciliation of U.S. Federal Statutory Tax Rate to Consolidated Effective Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
Nondeductible expenses	2.10%	2.30%	2.80%
State income taxes, net of federal benefit	0.60%	0.90%	0.60%
Foreign rate differential	0.40%	0.00%	(0.10%)
Stock-based compensation	0.00%	(1.50%)	(5.40%)
Benefit from tax planning and entity structuring activities	(0.30%)	(2.50%)	(0.80%)
U.S. federal tax (benefit) expense on foreign earnings	(1.20%)	(2.40%)	0.40%
Research and development credits	(3.20%)	(3.20%)	(3.10%)
Foreign-derived intangible income deduction	(4.10%)	(5.70%)	(4.00%)
Other	0.20%	0.10%	0.40%
Consolidated effective tax rate	15.50%	9.00%	11.80%