Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S. federal corporate tax rate	21.00%	21.00%	21.00%
Tax on international operations other than U.S. tax rate	1.20%	(1.50%)	1.90%
Adjustments to reserves for unrecognized tax benefits	0.30%	2.90%	0.10%
U.S. tax on international earnings, net of foreign tax credits	0.50%	(0.30%)	0.30%
Foreign-Derived Intangible Income Deductions (FDII)	(1.60%)	(2.10%)	(1.50%)
State income taxes, net of federal tax effect	0.10%	1.00%	(0.10%)
U.S. research and development credits	(0.70%)	(0.60%)	(0.40%)
Excess tax benefits on share-based payments	(4.60%)	(2.40%)	(4.20%)
Royalty acceleration	0.50%	0.00%	(2.50%)
Pension settlement	0.00%	(1.20%)	0.00%
Tax on undistributed earnings of subsidiaries	0.30%	0.00%	(0.60%)
Other	0.50%	0.10%	0.30%
Effective tax rate	17.50%	16.90%	14.30%