Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
U.S. federal corporate tax rate	21.00%	21.00%	21.00%	35.00%
Tax on international operations other than U.S. tax rate	1.20%	2.70%	4.80%
Adjustments to reserves for unrecognized tax benefits	1.40%	0.40%	0.20%
U.S. tax on international earnings, net of foreign tax credits	0.40%	0.40%	(0.20%)
Foreign-Derived Intangible Income Deductions (FDII)	(1.10%)	(0.60%)	(0.40%)
State income taxes, net of federal tax effect	1.20%	1.40%	2.30%
U.S. research and development credits	(0.70%)	(1.00%)	(0.90%)
Excess tax benefits on share-based payments	(5.20%)	(3.50%)	(6.00%)
Impact of 2017 Tax Act	0.00%	0.00%	(2.90%)
Tax on undistributed earnings of subsidiaries	0.10%	(0.20%)	(1.30%)
Other	(0.20%)	(0.40%)	0.60%
Effective tax rate	18.10%	20.20%	17.20%