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Income Taxes - Schedule of Difference Between Effective and Statutory (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
U.S. federal income tax rate 21.00% 21.00% 21.00%
State taxes 1.00% 1.00% 1.20%
Stock-based compensation (0.60%) 0.30% 1.00%
U.S. federal, state and foreign research and development credits (4.40%) (6.00%) (7.60%)
Foreign earnings (7.70%) (6.10%) (6.00%)
Nondeductible (nontaxable) foreign items (0.40%) 0.70% 0.40%
Impact of U.S. Tax Cuts and Jobs Act, net 0 0 (0.008)
Release of uncertain tax position reserve (0.90%) (5.90%) (1.90%)
Intercompany sale of intellectual property 0.20% 1.90% 3.30%
Valuation allowance 1.10% 4.20% 0.80%
Other (1.80%) (1.10%) 1.60%
Effective income tax rate 7.50% 10.00% 13.00%