Income Taxes - Schedule of Difference Between Effective and Statutory (Details)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
U.S. federal income tax rate	21.00%	21.00%	21.00%
State taxes	0.70%	1.00%	1.00%
Stock-based compensation	0.10%	(0.60%)	0.30%
U.S. federal, state and foreign research and development credits	(3.70%)	(4.40%)	(6.00%)
Foreign earnings	(7.30%)	(7.70%)	(6.10%)
Nondeductible (nontaxable) foreign items	0.00%	(0.40%)	0.70%
Release of uncertain tax position reserve	(1.00%)	(0.90%)	(5.90%)
Intercompany sale of intellectual property	0.00%	0.20%	1.90%
Valuation allowance	0.60%	1.10%	4.20%
Other	(1.80%)	(1.80%)	(1.10%)
Effective income tax rate	8.60%	7.50%	10.00%