Income Taxes - Reconciliation of Statutory Federal Income Tax Rate with Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
Statutory tax rate	21.00%	21.00%	21.00%
State income taxes, net	1.50%	0.90%	1.20%
Foreign rate differential	(0.10%)	(3.80%)	(7.70%)
Foreign income inclusion	0.80%	1.40%	1.50%
Foreign tax credit	(1.30%)	(0.90%)	(1.40%)
Reserve for uncertain tax positions	3.50%	(0.40%)	4.10%
Valuation allowance	3.70%	0.20%	0.20%
Intra-entity tax benefit	0.00%	(26.90%)	0.00%
Impact on deferred taxes of enacted tax law and rate changes	1.10%	(1.30%)	0.10%
Contingent liabilities	0.00%	0.60%	2.40%
Unrecognized loss on intercompany sale	0.00%	0.00%	1.90%
Other	(0.50%)	(0.50%)	1.90%
Effective tax rates	29.70%	(9.70%)	25.20%