Income Taxes - Reconciliation of Statutory Federal Income Tax Rate with Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Statutory tax rate	21.00%	21.00%	21.00%
State income taxes, net	5.00%	(1.30%)	1.80%
Foreign rate differential	1.00%	(0.30%)	2.80%
Foreign income inclusion	5.40%	0.70%	5.20%
Foreign tax credit	(5.10%)	(0.80%)	(4.30%)
Reserve for uncertain tax positions	(3.20%)	(2.40%)	11.50%
Valuation allowance	0.00%	(1.70%)	9.90%
Impact on deferred taxes of enacted tax law and rate changes	1.40%	(0.50%)	3.30%
Tax credits and incentives	(5.00%)	(1.50%)	(7.20%)
Mark-to market on investment in Consensus	22.10%	(18.00%)	0.00%
Return to provision adjustments	1.10%	0.50%	2.40%
Executive compensation	1.50%	0.70%	2.70%
Other	(1.00%)	(0.40%)	(0.20%)
Effective tax rates	44.20%	(4.00%)	48.90%