Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
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	1.90%	1.20%	2.70%
Adjustments to reserves for unrecognized tax benefits	0.10%	1.40%	0.40%
U.S. tax on international earnings, net of foreign tax credits	0.30%	0.40%	0.40%
Foreign-Derived Intangible Income Deductions (FDII)	(1.50%)	(1.10%)	(0.60%)
State income taxes, net of federal tax effect	(0.10%)	1.20%	1.40%
U.S. research and development credits	(0.40%)	(0.70%)	(1.00%)
Excess tax benefits on share-based payments	(4.20%)	(5.20%)	(3.50%)
Royalty acceleration	(2.50%)	0.00%	0.00%
Tax on undistributed earnings of subsidiaries	(0.60%)	0.10%	(0.20%)
Other	0.30%	(0.20%)	(0.40%)
Effective tax rate	14.30%	18.10%	20.20%